Set Object State Node

Definition:

Berifly this node has three functions that have been used inside the smach.state, the functions are:

1. battery_lvl: Take an instance from battery level
2. arm_movement: Take an instance from robot manipulator movement
3. base_movement: Take an instance from robot base movement

Services:

/state/set_battery_level —> uses SetBatteryLevel.srv

/move_arm —> uses move_arm service defined inside moveit pkg

/state/set_base_movement_state —> use SetBaseMovmentSate.srv

scripts.set_object_state.arm_movement(arm_movement_state)

Service client function for /move_arm. Updates the current robot arm movement state stored in my_moveit node.

Parameters:arm_movement_state (bool) –

scripts.set_object_state.base_movement(base_movement_state)

Service client function for /base_movement_state. Updates the current robot base movement state stored in robot_states node.

Parameters:base_movement_state (bool) –

scripts.set_object_state.battery_lvl(battery_level)

Service client function for /state/set_battery_level Update the current robot battery level stored in the robot_states node.

Parameters:battery_level (int) –