robot_smach_states.navigation.topological_navigation¶

Exceptions¶

TopologicalPlannerException

Common base class for all non-exit exceptions.

Classes¶

TopologicalNavigateTo

Move the robot to a specified location.

Functions¶

`convert_msgs_to_actions`(robot, msgs)	Converts a list of 'Edge' messages (typically the result of a call to the planner to a list of smach states to
`convert_drive_msg_to_action`(robot, msg)
`convert_open_door_msg_to_action`(robot, msg)
`get_topological_action_plan`(userdata, robot, ...[, ...])	Gets an action plan from the topological action server
`execute_topological_plan`(userdata)	Sequentially executes all actions in the action plan provided through UserData

Module Contents¶

exception robot_smach_states.navigation.topological_navigation.TopologicalPlannerException¶

Bases: Exception

Common base class for all non-exit exceptions.

Initialize self. See help(type(self)) for accurate signature.

robot_smach_states.navigation.topological_navigation.convert_msgs_to_actions(robot, msgs)¶

Converts a list of ‘Edge’ messages (typically the result of a call to the planner to a list of smach states to execute.

Parameters:

robot (robot_skills.robot.Robot) – robot API object
msgs (List[topological_action_planner_msgs.msg.Edge]) –

Returns:

Return type:

List[smach.State]

robot_smach_states.navigation.topological_navigation.convert_drive_msg_to_action(robot, msg)¶

Parameters:

robot (robot_skills.robot.Robot) –
msg (topological_action_planner_msgs.msg.Edge) –

Return type:

robot_smach_states.navigation.navigation.NavigateTo

robot_smach_states.navigation.topological_navigation.convert_open_door_msg_to_action(robot, msg)¶

Parameters:

robot (robot_skills.robot.Robot) –
msg (topological_action_planner_msgs.msg.Edge) –

Return type:

robot_smach_states.manipulation.open_door.OpenDoor

robot_smach_states.navigation.topological_navigation.get_topological_action_plan(userdata, robot, entity_designator, area_designator=None)¶

Gets an action plan from the topological action server

Parameters:

userdata (smach.UserData) – smach userdata
robot (robot_skills.robot.Robot) – robot API object
entity_designator (robot_smach_states.util.designators.EdEntityDesignator) – designator resolving to the entity to navigate to
area_designator (robot_smach_states.util.designators.Designator) – designator resolving to a string describing the area to navigate to

Return type:

str

robot_smach_states.navigation.topological_navigation.execute_topological_plan(userdata)¶

Sequentially executes all actions in the action plan provided through UserData

Parameters:: userdata (smach.UserData) – smach userdata
Returns:: outcome
Return type:: str

class robot_smach_states.navigation.topological_navigation.TopologicalNavigateTo(robot, entity_designator, area_designator=None)¶

Bases: smach.StateMachine

Move the robot to a specified location.

Parameters:

robot (robot_skills.robot.Robot) – Robot object
entity_designator (robot_smach_states.util.designators.EdEntityDesignator) – designator resolving to the entity to navigate to
area_designator (robot_smach_states.util.designators.Designator) – designator resolving to a string describing the area to navigate to