From cec842d0e092b7ccbe27426aaf99feae2cafe237 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 31 Aug 2022 15:52:21 +0900 Subject: [PATCH] [roseus_smach] Add :srv-name key to exec-state-machine to set server_name manually --- roseus_smach/src/state-machine-utils.l | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/roseus_smach/src/state-machine-utils.l b/roseus_smach/src/state-machine-utils.l index db6fe33d2..033129604 100644 --- a/roseus_smach/src/state-machine-utils.l +++ b/roseus_smach/src/state-machine-utils.l @@ -1,7 +1,7 @@ ;; state-machine-utils.l (defun exec-state-machine (sm &optional (mydata '(nil)) - &key (spin t) (hz 1) (root-name "SM_ROOT") iterate) + &key (spin t) (hz 1) (root-name "SM_ROOT") (srv-name "/server_name") iterate) "Execute state machine Args: @@ -14,7 +14,7 @@ Args: Returns: the last active state " - (let ((insp (instance state-machine-inspector :init sm :root-name root-name))) + (let ((insp (instance state-machine-inspector :init sm :root-name root-name :srv-name srv-name))) (unix::usleep (round (* 0.5 1e6))) (send sm :reset-state) (send insp :publish-structure) ;; publish once and latch