py_trees_ros_tutorials.mock.dock module

Mocks a docking controller

class py_trees_ros_tutorials.mock.dock.Dock(*args: Any, **kwargs: Any)[source]

Bases: GenericServer

Simple action server that docks/undocks depending on the instructions in the goal requests.

Node Name:
  • docking_controller

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

    • docking/undocking control

Parameters:

duration – mocked duration of a successful docking/undocking action

generate_feedback_message() py_trees_ros_interfaces.action.Dock.Feedback[source]

Create a feedback message that populates the percent completed.

Returns:

the populated feedback message

Return type:

py_trees_actions.Dock_Feedback

goal_received_callback(goal)[source]

Set the title of the action depending on whether a docking or undocking action was requestions (‘Dock’/’UnDock’)

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

Entry point for the mocked docking controller.