functions:
    - $(find rosplan_sensing_interface)/example.py
topics:
    test:
        topic: /topic
        msg_type: std_msgs/String # Not needed, but useful for topics not yet published!
        #operation: msg.data == 'TRUE' # value computation

    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

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

    somebody_at:
        topic: /somebodyat_mock
        msg_type: diagnostic_msgs/KeyValue
        operation: '[(msg.key, msg.value == "yes")]'

    is_busy:
        params:
            - '*'
        topic: /isbusy_mock
        msg_type: diagnostic_msgs/KeyValue
        operation: '[(msg.key, msg.value == "yes")]'

services:
    docked:
        params:
            - kenny # List of parameters (optional if no parameters!). must be completely instantiated
        service: /test_service # Service
        srv_type: std_srvs/SetBool # Srv type
        time_between_calls: 10 # Time between calls in seconds
        request: code # (Optional if in script) Request creation code. I.e.: "req SetBoolRequest(data=True)"
        operation: 'res.lala < ee' # (Optional if in script) operation to get the result