robokudo.tree_components.query_based_task_scheduler

Classes

QueryBasedScheduler

A Task Scheduler that checks the active Query in the CAS to infer which perception subtree to execute.

Module Contents

class robokudo.tree_components.query_based_task_scheduler.QueryBasedScheduler(name='QueryBasedScheduler', tasks=None, filter_fn: Callable[[robokudo_msgs.msg.QueryGoal], str] = None)

Bases: robokudo.tree_components.task_scheduler.TaskSchedulerBase, robokudo.annotators.core.BaseAnnotator

A Task Scheduler that checks the active Query in the CAS to infer which perception subtree to execute. You can apply a function to infer per use-case which perception tree you want to incorporate.

Original implementation by Malte Huerkamp

tasks = None

filter_fn = None

setup(timeout)

plan_new_job() → py_trees.Sequence | None