smach_ros.introspection module

class smach_ros.introspection.IntrospectionClient(*args: Any, **kwargs: Any)

Bases: Node

get_servers()

Get the base names that are broadcasting smach states.

set_initial_state(server, path, initial_states, initial_userdata=smach.UserData, timeout=None)

Set the initial state of a smach server.

@type server: string @param server: The name of the introspection server to which this client should connect.

@type path: string @param path: The path to the target container in the state machine.

@type initial_states: list of string @param inital_state: The state the target container should take when it starts. This is as list of at least one state label.

@type initial_userdata: UserData @param initial_userdata: The userdata to inject into the target container.

@type timeout: rclpy.time.Duration @param timeout: Timeout for this call. If this is set to None, it will not block, and the initial state may not be set before the target state machine goes active.

class smach_ros.introspection.IntrospectionServer(*args: Any, **kwargs: Any)

Bases: Node

Server for providing introspection and control for smach.

clear()

Clear all proxies in this server.

construct(server_name, state, path)

Recursively construct proxies to containers.

start()

stop()