[sample_elevator update

k-okada · Nov 22, 2023 · eeb4e2a · eeb4e2a
1 parent 0c82ff7
commit eeb4e2a
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Showing 2 changed files with 9 additions and 7 deletions.
diff --git a/jsk_spot_robot/jsk_spot_startup/apps/sample_elevator/sample_elevator.py b/jsk_spot_robot/jsk_spot_startup/apps/sample_elevator/sample_elevator.py
@@ -19,12 +19,14 @@
     client.power_on()
     client.undock()
 
-    behavior_client.send_goal_and_wait(NavigationGoal(target_node_id="eng2_3FElevator"))
-    result = behavior_client.get_result()
+    client.reset_current_node('eng2_73B2_dock')
+    client.execute_behaviors(target_node_id="eng2_3FElevator")
+    client.wait_execute_behaviors_result()
+    result = client.get_execute_behaviors_result()
     rospy.loginfo("Result forward: {} {}".format(result.success, result.message))
 
-    behavior_client.send_goal_and_wait(NavigationGoal(target_node_id="eng2_73B2_dock"))
-    result = behavior_client.get_result()
+    client.execute_behaviors(NavigationGoal(target_node_id="eng2_73B2_dock"))
+    result = client.get_execute_behaviors_result()
     rospy.loginfo("Result backward: {} {}".format(result.success, result.message))
 
     client.dock(521)
diff --git a/jsk_spot_robot/jsk_spot_startup/apps/sample_elevator/sample_elevator.xml b/jsk_spot_robot/jsk_spot_startup/apps/sample_elevator/sample_elevator.xml
@@ -2,8 +2,8 @@
   <node pkg="jsk_spot_startup" type="sample_elevator.py" name="sample_elevator" output="screen" required="True"/>
 
   <include
-      file="$(find jsk_spot_behavior_manager)/launch/demo.launch"
-      >
-      <arg name="initial_node_id" value="eng2_73B2_dock" />
+      file="$(find elevator_operation)/launch/elevator_state_publisher.launch">
+      <arg name="initial_floor" value="7" />
+      <arg name="robot_type" value="spot" />
   </include>
 </launch>