User Tools
Differences
This shows you the differences between two versions of the page.
| Both sides previous revision Previous revision Next revision | Previous revision Next revision Both sides next revision | ||
|
cs:ai:start [2018/02/23 18:29] Mike Bykhovtsev Tweak |
cs:ai:start [2018/02/24 00:15] Mike Bykhovtsev |
||
|---|---|---|---|
| Line 30: | Line 30: | ||
| {{ :cs:ai:gate_ai.png?nolink |}} | {{ :cs:ai:gate_ai.png?nolink |}} | ||
| ===== Things to know when developing AI ===== | ===== Things to know when developing AI ===== | ||
| - | * When inheriting **SubscribeState** instead of **SmachState**, you need to use **self.exit("outcome")** instead of **return "outcome"** | + | * When inheriting from **SubscribeState** instead of **SmachState**, you need to use **self.exit("outcome")** instead of **return "outcome"** |
| + | * Every python script that is going to run any state machine **must have** in its main function these lines of code below. | ||
| + | <code python> | ||
| + | while rospy.get_time() == 0: | ||
| + | continue | ||
| + | </code> | ||
| * Every time you create control_wrapper instance, you need to set depth value again. | * Every time you create control_wrapper instance, you need to set depth value again. | ||
| * If your state is using control wrapper to move, right before final outcome make sure to set changed yaw/roll/pitch/forward to 0. | * If your state is using control wrapper to move, right before final outcome make sure to set changed yaw/roll/pitch/forward to 0. | ||
