本文整理汇总了Python中flexbe_core.proxy.ProxyActionClient.is_active方法的典型用法代码示例。如果您正苦于以下问题：Python ProxyActionClient.is_active方法的具体用法？Python ProxyActionClient.is_active怎么用？Python ProxyActionClient.is_active使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类flexbe_core.proxy.ProxyActionClient的用法示例。
在下文中一共展示了ProxyActionClient.is_active方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: Explore
# 需要导入模块: from flexbe_core.proxy import ProxyActionClient [as 别名]
# 或者: from flexbe_core.proxy.ProxyActionClient import is_active [as 别名]
class Explore(EventState):
'''
Starts the Exploration Task via /move_base
># speed Speed of the robot
<= succeeded Exploration Task was successful
<= failed Exploration Task failed
'''
def __init__(self):
super(Explore, self).__init__(outcomes = ['succeeded', 'failed'], input_keys =['speed'])
self._action_topic = '/move_base'
self._move_client = ProxyActionClient({self._action_topic: MoveBaseAction})
self._dynrec = Client("/vehicle_controller", timeout = 10)
self._defaultspeed = 0.1
self._succeeded = False
self._failed = False
def execute(self, userdata):
if self._move_client.has_result(self._action_topic):
result = self._move_client.get_result(self._action_topic)
self._dynrec.update_configuration({'speed':self._defaultspeed})
if result.result == 1:
self._reached = True
Logger.loginfo('Exploration succeeded')
return 'succeeded'
else:
self._failed = True
Logger.logwarn('Exploration failed!')
return 'failed'
def on_enter(self, userdata):
speedValue = self._dynrec.get_configuration(timeout = 0.5)
if speedValue is not None:
self._defaultspeed = speedValue['speed']
self._dynrec.update_configuration({'speed':userdata.speed})
self._succeeded = False
self._failed = False
action_goal = MoveBaseGoal()
action_goal.exploration = True
action_goal.speed = userdata.speed
if action_goal.target_pose.header.frame_id == "":
action_goal.target_pose.header.frame_id = "world"
try:
if self._move_client.is_active(self._action_topic):
self._move_client.cancel(self._action_topic)
self._move_client.send_goal(self._action_topic, action_goal)
except Exception as e:
Logger.logwarn('Failed to start Exploration' % {
'err': str(e),
'x': userdata.waypoint.pose.position.x,
'y': userdata.waypoint.pose.position.y
})
self._failed = True
def on_exit(self, userdata):
self._move_client.cancel(self._action_topic)
def on_start(self):
pass
def on_stop(self):
pass