1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
|
#! /usr/bin/env python
#
# Copyright (c) 2013, Miguel Sarabia
# Imperial College London
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# * Neither the name of Imperial College London nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
class Constants:
node = "simple_action_server_deadlock_companion"
topic = "deadlock"
max_action_duration = 3
import random
import actionlib
from actionlib.msg import TestAction, TestGoal
from actionlib_msgs.msg import GoalStatus
import rospy
class DeadlockCompanion:
def __init__(self):
# Seed random with fully resolved name of node and current time
random.seed(rospy.get_name() + str(rospy.Time.now().to_sec()))
# Create actionlib client
self.action_client = actionlib.SimpleActionClient(
Constants.topic,
TestAction)
def run(self):
while not rospy.is_shutdown():
# Send dummy goal
self.action_client.send_goal(TestGoal())
# Wait for a random amount of time
action_duration = random.uniform(0, Constants.max_action_duration)
self.action_client.wait_for_result(rospy.Duration(action_duration))
state = self.action_client.get_state()
if state == GoalStatus.ACTIVE or state == GoalStatus.PENDING:
self.action_client.cancel_goal()
if __name__ == '__main__':
rospy.init_node(Constants.node)
try:
companion = DeadlockCompanion()
companion.run()
except (KeyboardInterrupt, SystemExit):
raise
except:
pass
|
