robokudo.annotators.pipeline_trigger

Pipeline execution control through triggers.

This module provides an annotator for:

  • Controlling pipeline execution with triggers

  • Waiting for external signals via blackboard

  • Resetting trigger state after activation

Note

The pipeline will remain in RUNNING state until triggered.

Classes

PipelineTrigger

Pipeline execution controller using triggers.

Module Contents

class robokudo.annotators.pipeline_trigger.PipelineTrigger(name='PipelineTrigger')

Bases: robokudo.annotators.core.BaseAnnotator

Pipeline execution controller using triggers.

This annotator basically gives you a way to wait for a ‘trigger’ before a pipeline should start. It basically just returns RUNNING until it received the trigger from the blackboard.

Note

The trigger is accessed via “pipeline_trigger” on the blackboard.

update()

Check trigger state and control pipeline execution.

The method:

  • Reads trigger state from blackboard

  • Returns SUCCESS if triggered

  • Resets trigger to False

  • Returns RUNNING if not triggered

Returns:

SUCCESS if triggered, RUNNING otherwise

Return type:

py_trees.Status