betfsm_crospi.ReadTaskSpecification

Bases: ServiceClient

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

calls a service to instruct eTaSL to read a task specification file. The file is obtained from the task

Parameters:
  • task_name (str) –

    name that will be used to find back the task with specifies the task specification file.

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

    name of the etasl node, by default /crospi_node

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

    returns TIMEOUT if timeout is exceeded.

  • node (Node, default: None ) –

    ROS2 node, by default BeTFSMNode.get_instance()