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More robust mission behavior tree script #5

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More robust mission behavior tree script #5

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10 changes: 9 additions & 1 deletion mission_behavior_tree.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
from rclpy.node import Node
from rclpy.qos import qos_profile_system_default
from std_msgs.msg import String
from as2_msgs.msg import PlatformInfo, PlatformStatus


class StartBehaviorTree(Node):
Expand All @@ -14,14 +15,21 @@ class StartBehaviorTree(Node):
def __init__(self, namespace):
super().__init__('start_bt', namespace=namespace)

self.stop = False

self.status_sub = self.create_subscription(
PlatformInfo, "platform/info", self.status_cbk, qos_profile_system_default)
self.start_pub = self.create_publisher(
String, "start", qos_profile_system_default)

def status_cbk(self, msg: PlatformInfo):
self.stop = True if msg.status.state == PlatformStatus.TAKING_OFF else False
self.start_pub.publish(String())


if __name__ == "__main__":
rclpy.init()
start_bt = StartBehaviorTree(namespace="drone0")
rclpy.spin_once(start_bt, timeout_sec=1)
while not start_bt.stop:
rclpy.spin_once(start_bt, timeout_sec=1)
rclpy.shutdown()