feat: morning fixes of sm

LASR-at-Home · Jul 18, 2024 · abf37e0 · abf37e0
1 parent 774c3ca
commit abf37e0
Showing 1 changed file with 5 additions and 14 deletions.
diff --git a/tasks/carry_my_luggage/src/carry_my_luggage/state_machine.py b/tasks/carry_my_luggage/src/carry_my_luggage/state_machine.py
@@ -185,9 +185,9 @@ def wait_cb(ud, msg):
                     EmptySrv,
                 ),
                 transitions={
-                    "succeeded": "GET_START_POSE",
-                    "aborted": "GET_START_POSE",
-                    "preempted": "GET_START_POSE",
+                    "succeeded": "GET_START_LOCATION",
+                    "aborted": "GET_START_LOCATION",
+                    "preempted": "GET_START_LOCATION",
                 },
             )
 
@@ -211,19 +211,10 @@ def start_pose_cb(ud):
             smach.StateMachine.add(
                 "SAY_STEP",
                 Say(text="First walk slowly towards me and then I will follow you."),
-                transitions={
-                    "succeeded": "SAY_FOLLOW",
-                    "aborted": "failed",
-                    "preempted": "failed",
-                },
-            )
-            smach.StateMachine.add(
-                "SAY_FOLLOW",
-                Say(text="I will follow you now."),
                 transitions={
                     "succeeded": "FOLLOW",
-                    "aborted": "failed",
-                    "preempted": "failed",
+                    "aborted": "FOLLOW",
+                    "preempted": "FOLLOW",
                 },
             )