action_manager module

Module to send actions to the turtlebot.

Authors:

Shibhansh Dohare, Banafsheh Rafiee, Parash Rahman, Niko Yasui.

class action_manager.ActionManager

Class that communicates directly with the turtlebot.

action

action – The action to send to the turtlebot.

base_state

The current reading from the turtlebot’s ‘core’ topic. Contains bump information.

termination_flag

bool – Quit if this is true.

pause_flag

bool – Stop sending actions if this is true.

stop_once

bool – Send one stop action and resume sending action.

run()

Send an action at a 40Hz cycle.

set_pause_flag(pause_flag)

set_termination_flag(termination_flag)

update_action(action_cmd)

Don’t go forward if bumping and wait before going forward after turning.

update_base_state(val)

Set action to STOP_ACTION if the bumper is on.

action_manager.start_action_manager()

Runs the action manager