py_trees_ros_tutorials.mock.rotate module

Mocks a simple action server that rotates the robot 360 degrees.

class py_trees_ros_tutorials.mock.rotate.Rotate(*args: Any, **kwargs: Any)[source]

Bases: GenericServer

Simple server that controls a full rotation of the robot.

Node Name:
  • rotation_controller

Action Servers:
  • /rotate (py_trees_ros_interfaces.action.Dock)

    • motion primitives - rotation server

Parameters:

rotation_rate (float) – rate of rotation (rad/s)

generate_feedback_message()[source]

Create a feedback message that populates the percent completed.

Returns:

the populated feedback message

Return type:

py_trees_actions.Rotate.Feedback

py_trees_ros_tutorials.mock.rotate.main()[source]

Entry point for the mock rotation controller node.