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cs:ai:start [2018/02/23 18:30] Mike Bykhovtsev Tweak |
cs:ai:start [2018/02/24 00:15] Mike Bykhovtsev |
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| ===== Things to know when developing AI ===== | ===== Things to know when developing AI ===== | ||
| * When inheriting from **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. | ||
