robokudo.behaviours.action_server_checks¶

Classes¶

`ActionServerActive`	Check if the ActionServer is currently active and processes a goal.
`ActionServerCheck`	Check if the ActionServer is currently active and processes a goal.
`ActionServerNoPreemptRequest`	Check if the ActionServer has been requested to be preempted.
`AbortGoal`
`RunningUntilExceptionHandled`

Module Contents¶

class robokudo.behaviours.action_server_checks.ActionServerActive(name='ActionServerActive')¶

Bases: py_trees.Behaviour

Check if the ActionServer is currently active and processes a goal.

update()¶

class robokudo.behaviours.action_server_checks.ActionServerCheck(name='ActionServerCheck')¶

Bases: py_trees.Behaviour

Check if the ActionServer is currently active and processes a goal. Returns RUNNING, if ActionServer is active. Returns FAILURE when ActionServer can’t be found Returns SUCCESS when ActionServer is not active anymore.

This Behavior is mainly intended to make sure that a Pipeline doesn’t finish and start the next iteration, when a query result hasn’t been detected yet by the ActionServer Result monitoring process.

update()¶

class robokudo.behaviours.action_server_checks.ActionServerNoPreemptRequest(name='ActionServerNoPreemptRequest')¶

Bases: py_trees.Behaviour

Check if the ActionServer has been requested to be preempted. Returns SUCCESS, if no preempt request is stored onto the Blackboard. Returns FAILURE when preempt request is detected. It will also ACKNOWLEDGE the preempt request in order to make the action server preempt the goal properly.

update()¶

class robokudo.behaviours.action_server_checks.AbortGoal(name='AbortGoal', msg='Goal has been aborted')¶

Bases: py_trees.Behaviour

msg = 'Goal has been aborted'¶

update()¶

class robokudo.behaviours.action_server_checks.RunningUntilExceptionHandled(name='RunningUntilExceptionHandled', msg='Running Until Exception Handled')¶

Bases: py_trees.Behaviour

msg = 'Running Until Exception Handled'¶

update()¶