jsk_demo_common

This package includes common action functions for daily assistant robot and task execution manager which is used for planning and execution with attention observation.

directories

euslisp/: source codes sample/: sample codes

samples

attention-observation-sample.l

# terminal 0
$ roscore

# terminal 1
$ rosrun roseus roseus
irteusgl$ (load "package://jsk_demo_common/sample/attention-observation-sample.l)
irteusgl$ (test)

while executing actions:

# terminal 2
$ rosrun roseus roseus
irteusgl$ (load "package://jsk_demo_common/euslisp/attention-observation.l")
irteusgl$ (pr2-init)
irteusgl$ (send *ri* :cancel-all-motion)

then robot action is interrupted.

preemptive-task-execution-sample.l

$ rosrun roseus roseus
irteusgl$ (load "package://jsk_demo_common/sample/preemptive-task-execution-sample.l")

you can see generated state machine by executing follow command before executing sample above:

$ rosrun smach_viewer smach_viewer.py