yasmin_demos.monitor_demo module

class yasmin_demos.monitor_demo.PrintOdometryState(*args: Any, **kwargs: Any)

Bases: MonitorState

MonitorState subclass to handle Odometry messages.

This state monitors Odometry messages from the specified ROS topic, logging them and transitioning based on the number of messages received.

Attributes:

times (int): The number of messages to monitor before transitioning

to the next outcome.

Parameters:

times (int): The initial count of how many Odometry messages to

process before changing state.

Methods:

monitor_handler(blackboard: Blackboard, msg: Odometry) -> str:

Handles incoming Odometry messages, logging the message and returning the appropriate outcome based on the remaining count.

monitor_handler(blackboard: yasmin.Blackboard, msg: nav_msgs.msg.Odometry) → str

Handles incoming Odometry messages.

This method is called whenever a new Odometry message is received. It logs the message, decrements the count of messages to process, and determines the next state outcome.

Parameters:

blackboard (Blackboard): The shared data storage for states. msg (Odometry): The incoming Odometry message.

Returns:

str: The next state outcome, either “outcome1” to continue

monitoring or “outcome2” to transition to the next state.

Exceptions:

None

yasmin_demos.monitor_demo.main()

Main function to initialize and run the ROS 2 state machine.

This function initializes ROS 2, sets up logging, creates a finite state machine (FSM), adds states to the FSM, and executes the FSM. It handles cleanup and shutdown of ROS 2 gracefully.

Exceptions:

KeyboardInterrupt: Caught to allow graceful cancellation of the

state machine during execution.