srs_monitoring_statemachines Namespace Reference

Classes
class	state_checking_during_operation
Functions
def	common_child_term_cb
def	common_out_cb
Variables
tuple	co_sm_detection
	creating the concurrence state machine detection
tuple	co_sm_enviroment_update
	creating the concurrence state machine environment object update
tuple	co_sm_navigation
	creating the concurrence state machine navigation
tuple	co_sm_new_grasp
	creating the concurrence state machine grasp
tuple	co_sm_old_grasp
	creating the concurrence state machine old grasp
tuple	co_sm_transfer_to_tray
	creating the concurrence state machine put object on tray this process can be paused but not stoppable until object is on the tray, robot has to put the target in a stable position
dictionary	remapping = {'semi_autonomous_mode':'semi_autonomous_mode','target_base_pose':'target_base_pose'}

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Function Documentation

def srs_monitoring_statemachines.common_child_term_cb

(

outcome_map

)

Definition at line 166 of file srs_monitoring_statemachines.py.

def srs_monitoring_statemachines.common_out_cb

(

outcome_map

)

Definition at line 196 of file srs_monitoring_statemachines.py.

---

Variable Documentation

tuple srs_monitoring_statemachines::co_sm_detection

Initial value:

smach.Concurrence(outcomes=['succeeded', 'not_completed', 'failed', 'stopped', 'preempted', 'paused'],
                 default_outcome='failed',
                 input_keys=['target_object_name','target_object_id', 'target_workspace_name','semi_autonomous_mode'],
                 output_keys=['target_object','target_object_pose'],
                 child_termination_cb = common_child_term_cb,
                 outcome_cb = common_out_cb)

creating the concurrence state machine detection

Definition at line 238 of file srs_monitoring_statemachines.py.

tuple srs_monitoring_statemachines::co_sm_enviroment_update

Initial value:

smach.Concurrence(outcomes=['succeeded', 'not_completed', 'failed', 'stopped', 'preempted', 'paused'],
                 default_outcome='failed',
                 input_keys=['scan_pose_list'],
                 child_termination_cb = common_child_term_cb,
                 outcome_cb = common_out_cb)

creating the concurrence state machine environment object update

Definition at line 320 of file srs_monitoring_statemachines.py.

tuple srs_monitoring_statemachines::co_sm_navigation

Initial value:

smach.Concurrence(outcomes=['succeeded', 'not_completed', 'failed', 'stopped', 'preempted', 'paused'],
                 default_outcome='failed',
                 input_keys=['target_base_pose','semi_autonomous_mode'],
                 child_termination_cb = common_child_term_cb,
                 outcome_cb = common_out_cb)

creating the concurrence state machine navigation

Definition at line 222 of file srs_monitoring_statemachines.py.

tuple srs_monitoring_statemachines::co_sm_new_grasp

Initial value:

smach.Concurrence(outcomes=['succeeded', 'not_completed', 'failed', 'stopped', 'preempted', 'paused'],
                 default_outcome='failed',
                 input_keys=['target_object_name','target_object_id','target_object','target_workspace_name','semi_autonomous_mode'],
                 output_keys=['grasp_categorisation','surface_distance'],
                 child_termination_cb = common_child_term_cb,
                 outcome_cb = common_out_cb)

creating the concurrence state machine grasp

Definition at line 260 of file srs_monitoring_statemachines.py.

tuple srs_monitoring_statemachines::co_sm_old_grasp

Initial value:

smach.Concurrence(outcomes=['succeeded', 'not_completed', 'failed', 'stopped', 'preempted', 'paused'],
                 default_outcome='failed',
                 input_keys=['target_object_name','target_object_id','target_object','semi_autonomous_mode'],
                 output_keys=['grasp_categorisation','surface_distance'],
                 child_termination_cb = common_child_term_cb,
                 outcome_cb = common_out_cb)

creating the concurrence state machine old grasp

Definition at line 283 of file srs_monitoring_statemachines.py.

tuple srs_monitoring_statemachines::co_sm_transfer_to_tray

Initial value:

smach.Concurrence(outcomes=['succeeded', 'not_completed', 'failed', 'stopped', 'preempted', 'paused'],
                 default_outcome='failed',
                 input_keys=['grasp_categorisation','surface_distance'],
                 child_termination_cb = common_child_term_cb,
                 outcome_cb = common_out_cb)

creating the concurrence state machine put object on tray this process can be paused but not stoppable until object is on the tray, robot has to put the target in a stable position

Definition at line 304 of file srs_monitoring_statemachines.py.

dictionary srs_monitoring_statemachines::remapping = {'semi_autonomous_mode':'semi_autonomous_mode','target_base_pose':'target_base_pose'}

Definition at line 231 of file srs_monitoring_statemachines.py.