giskardpy.middleware.ros2.feedback_publisher

giskardpy.middleware.ros2.feedback_publisher#

`MotionStatechartPayloadKey`	The keys of the motion statechart feedback sent to the action client on top of the
`ActionFeedbackPublisher`	Reports the state of the running motion statechart to the action client.

class giskardpy.middleware.ros2.feedback_publisher.MotionStatechartPayloadKey#

Bases: enum.StrEnum

The keys of the motion statechart feedback sent to the action client on top of the StatechartPayloadKey.

WAITING_FOR_CHILD = 'waiting_for_child'#: The nodes waiting for the client to choose their child, by index, each with the number of children it already holds.

PUBLISHED_POSITION = 'published_position'#: The position Giskard’s world published its changes up to while the goal ran, which the client’s world has to contain before the client reads it; left out if the goal published nothing.

class giskardpy.middleware.ros2.feedback_publisher.ActionFeedbackPublisher#

Reports the state of the running motion statechart to the action client.

executor: cramph.executor.StatechartExecutor#: The executor holding the motion statechart that is reported on.

action_server: giskardpy.middleware.ros2.action_server.ActionServerHandler#: The action server the feedback is sent through.

outgoing_world_updates: giskardpy.middleware.ros2.world_updates.OutgoingWorldUpdates#: Tells which changes of Giskard’s world the running goal published.

child_request_repeat_period: float = 0.1#: Seconds after which the feedback is sent again while a node waits for a child, so that a client that could not choose yet is asked again.

last_history_length: int = -1#: Length of the statechart history at the most recent feedback, used to detect state changes.

sent_node_count: int = 0#: How many nodes of the statechart the feedback sent the structure of so far.

publish_structure() → None#

Send the state of the motion statechart together with its structure.

Serializing the structure is expensive, so it is sent once while the goal is compiled instead of from inside a control cycle.

publish_if_changed() → None#: Send feedback when the state of the motion statechart changed, and every child_request_repeat_period while a node waits for a child.

publish() → None#: Send feedback regardless of whether anything changed, with the structure of the nodes that joined the statechart since the structure was sent last.

create_states() → dict[str, Any]#: Collect the life cycle, observation and last observation state of the motion statechart, the tick they were taken at, the nodes waiting for a child, and how far the changes of the goal were published.

has_state_changed() → bool#: Whether the statechart history grew since the last feedback.

send(data: dict[str, Any]) → None#: Publish the given data as action feedback.