Merge pull request #304 from tue-robotics/feature/set-a-table

Feature/set a table

challenge_set_a_table/CMakeLists.txt

@@ -0,0 +1,9 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(challenge_set_a_table)
+
+find_package(catkin REQUIRED COMPONENTS
+)
+
+catkin_python_setup()
+
+catkin_package()

challenge_set_a_table/README.md

@@ -0,0 +1,21 @@
+# Responsible: Sam
+
+## Testing
+
+Launch procedure:
+```
+amigo-start
+amigo-free-mode
+rosrun challenge_set_a_table challenge_set_a_table.py amigo
+```
+
+## DONE
+
+-
+
+## TODO
+
+1. Plan - what is possible for execution
+2. Make scaffold with dummy functions
+3. Check for ready available functions and implement them
+4. Make / ask someone for missing functions

challenge_set_a_table/package.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<package>
+  <name>challenge_set_a_table</name>
+  <version>1.0.0</version>
+  <description>Set a table challenge from Robocup 2017 rulebook</description>
+
+  <maintainer email="alexandrov.samuil@gmail.com">Sam Alexandrov</maintainer>
+
+  <license>TODO</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>robot_skills</build_depend>
+  <build_depend>robot_smach_states</build_depend>
+  <build_depend>rospy</build_depend>
+
+  <run_depend>robot_skills</run_depend>
+  <run_depend>robot_smach_states</run_depend>
+  <run_depend>rospy</run_depend>
+</package>

challenge_set_a_table/setup.py

@@ -0,0 +1,9 @@
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['challenge_set_a_table'],
+    package_dir={'': 'src'}
+)
+
+setup(**d)

challenge_set_a_table/src/challenge_set_a_table.py

@@ -0,0 +1,37 @@
+#! /usr/bin/env python
+
+import rospy
+import smach
+import time
+import os
+import datetime
+import math
+
+from robot_smach_states import Initialize, Say, WaitTime
+from robot_smach_states.util.startup import startup
+import robot_smach_states.util.designators as ds
+
+#from challenge_set_a_table_states import detect
+
+
+class ChallengeSetATable(smach.StateMachine):
+    def __init__(self, robot):
+        smach.StateMachine.__init__(self, outcomes=['Done','Aborted'])
+
+        with self:
+            smach.StateMachine.add('INITIALIZE',
+                                   Initialize(robot),
+                                   transitions={'initialized': 'END_CHALLENGE',
+                                                'abort': 'Aborted'})
+
+            # End
+            smach.StateMachine.add('END_CHALLENGE',
+                                   Say(robot, "My work here is done, goodbye!"),
+                                   transitions={'spoken': 'Done'})
+
+            ds.analyse_designators(self, "set_a_table")
+
+if __name__ == "__main__":
+    rospy.init_node('set_a_table_exec')
+
+    startup(ChallengeSetATable, challenge_name="challenge_set_a_table")

tue_robocup/package.xml

@@ -25,6 +25,7 @@
   <run_depend>challenge_speech_recognition</run_depend>
   <run_depend>challenge_storing_groceries</run_depend>
   <run_depend>challenge_spr</run_depend>
+  <run_depend>challenge_set_a_table</run_depend>
   <run_depend>challenge_test</run_depend>
   <run_depend>test_tools</run_depend>
   <run_depend>audio_capture</run_depend>