functions:
    - $(find rosplan_sensing_interface)/icaps2019_tutorial.py
topics:

    localised:
        params:
            - kenny
        topic: /localised_mock
        msg_type: std_msgs/Bool
        operation: msg.data

    docked:
        params:
            - kenny
        topic: /mobile_base/sensors/core
        msg_type: kobuki_msgs/SensorState
        operation: msg.charger != msg.DISCHARGING

    undocked:
        params:
            - kenny
        topic: /mobile_base/sensors/core
        msg_type: kobuki_msgs/SensorState
        operation: msg.charger == msg.DISCHARGING

    robot_at:
        params:
            - kenny
            - '*'
        topic: /amcl_pose
        msg_type: geometry_msgs/PoseWithCovarianceStamped