Sensor state

When you integrate a sensor to GRIP, a dedicated state will be generated for you. When this state is executed, it collects the data set on one of the topics you have declared when integrating it. The data will then be stored in the userdata.

Outcomes

This state has two outcomes: success (green socket) and failure (red socket). If no ROS msg can be captured from the specified topic after 2 seconds then return failure. If the message is successfully stored in the userdata, return success.

How to configure

Once dropped in the task editor, you should see two parameters appear in the state:

• sensor_topic: Name of the topic, the ORS msg should be extracted from. It must be the name of one of the topics you have defined when integrating it. Please use the values avaialble in dropdown menu.

• output: Name under which the ROS msg will be saved in the userdata. Must not be left empty.

Example of use

You can find a concrete example of how to use this state, here.