[FlexBE] Flexbe 설치 및 사용하기

Installation Guide

http://philserver.bplaced.net/fbe/download.php

FlexBE Behavior Engine

Download FlexBE Downloading and installing FlexBE can be completed in just a few steps, assuming that you already have ROS installed. The engine itself is both available as binary installation on the ROS build server and as source code on github. You can g

philserver.bplaced.net

catkin build 실행 결과

정상적으로 빌드된 것을 알 수 있다

System Configuration

roslaunch flexbe_app flexbe_full.launch

Tutorial) init pose 지정하기

다음과 같이 인터페이스를 설정한다음 "Test"라는 state를 만들었다

코드는 아래와 같다

#!/usr/bin/env python

import rospy
from flexbe_core import EventState, Logger
from flexbe_core.proxy import ProxyPublisher
from geometry_msgs.msg import PoseWithCovarianceStamped
from tf import transformations
from geometry_msgs.msg import Pose, Point, Quaternion

class SetInitialPoseState(EventState):
    """
    A state to set the initial pose of a robot in the map frame.

    -- x           float   Initial x-coordinate.
    -- y           float   Initial y-coordinate.
    -- orientation float   Initial orientation in radians.

    #> succeeded    bo
        pub_initial_pose = ProxyPublisher({"/initialpose": PoseWithCovarianceStamped})ol    True if the initial pose has been set successfully.
    """

    def __init__(self):
        """Constructor of the state."""
        super(SetInitialPoseState, self).__init__(outcomes=['succeeded'], input_keys=['initial_pose'])

        self.pub_initial_pose = ProxyPublisher({"/initialpose": PoseWithCovarianceStamped})

        self.succeeded = False

    def execute(self, userdata):
        """Execution of the state."""
        if self.succeeded:
            return 'succeeded'
    
    def on_enter(self, userdata):
        self.succeeded = False
        initial_pose_msg = PoseWithCovarianceStamped()
        initial_pose_msg.header.frame_id = "map"
        initial_pose_msg.header.stamp = rospy.Time.now()

        initial_pose_msg.pose.pose.position.x = userdata.initial_pose[0]
        initial_pose_msg.pose.pose.position.y = userdata.initial_pose[1]

        qt = transformations.quaternion_from_euler(0, 0, userdata.initial_pose[2])
        initial_pose_msg.pose.pose.orientation = Quaternion(*qt)
        self.pub_initial_pose.publish("/initialpose", initial_pose_msg)
        Logger.loginfo("Initial pose set to ({}, {}) with orientation ({})".format(userdata.initial_pose[0], userdata.initial_pose[1], userdata.initial_pose[2]))
        self.succeeded = True

    def on_exit(self, userdata):
        pass
    def on_start(self):
        pass
    def on_stop(self):
        pass