betfsm_crospi.CrospiDeactivate

Bases: Sequence

__init__(srv_name='/crospi_node', timeout=Duration(seconds=1.0), node=None, force_outcome=None)

Sets lifecycle cROSpi to UNCONFIGURED state (if not already in that state)

Always tries to go true the whole sequence, also in case of errors. Depending on the context (cleanup, or initial check), you can use force_outcome to force the outcome to a given value.

Parameters:
  • srv_name (str, default: '/crospi_node' ) –

    name of the crospi_node

  • timeout (Duration, default: Duration(seconds=1.0) ) –

    duration of timeout

  • node (Node, default: None ) –

    ROS2 node that BeTFSM uses (None: will get singleton instance)

  • outcome –

    the outcome of this statemachine (in all circumstances)