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