Merge pull request #1017 from tue-robotics/feature/add_find_default_p…

…arameters

added default arguments to Find state

robot_smach_states/src/robot_smach_states/navigation/find.py

@@ -7,6 +7,7 @@
 # TU/e Robotics
 from robot_skills.classification_result import ClassificationResult
 from ..world_model import Inspect
+from ..utility import WaitTime
 from ..util.designators import VariableDesignator
 
 
@@ -94,8 +95,18 @@ class Find(smach.StateMachine):
     Find an entity based on a description. The description designator should
     have resolve type dict and it should contain at least a 'type' field
     """
-    def __init__(self, robot, knowledge, source_entity_designator, description_designator, area_name_designator,
-                 navigation_area_designator, found_entity_designator):
+    def __init__(self, robot, knowledge, source_entity_designator, description_designator, found_entity_designator,
+                 area_name="on_top_of", navigation_area=None):
+        """
+        :param robot: Robot object
+        :param knowledge: Robocup knowledge object. Used to find an object by its properties
+        :param source_entity_designator: Designator resolving to EdEntity to inspect
+        :param description_designator: dict which contains at least a 'type' field
+        :param found_entity_designator: Designator the found entity can be written to
+        :param area_name: str or str Designator describing the area of the source entity to inspect
+        :param navigation_area: str or str Designator describing the area to drive to for the inspect.
+                                None=NavigateToObserve
+        """
         smach.StateMachine.__init__(self, outcomes=['succeeded', 'inspect_failed', 'not_found'])
 
         segmented_entities_designator = VariableDesignator([], resolve_type=[ClassificationResult])
@@ -105,8 +116,8 @@ def __init__(self, robot, knowledge, source_entity_designator, description_desig
                                    Inspect(robot=robot,
                                            entityDes=source_entity_designator,
                                            objectIDsDes=segmented_entities_designator,
-                                           searchArea=area_name_designator,
-                                           navigation_area=navigation_area_designator),
+                                           searchArea=area_name,
+                                           navigation_area=navigation_area),
                                    transitions={'done': 'CHECK_IF_ENTITY_FOUND',
                                                 'failed': 'inspect_failed'})