How to attach a script to a skill

The way to attach scripts to skills is almost the same as attaching a monitor. First you have to include the script by adding the include statement at the start of the <models> tag.

<pitasc>
    <models>
        <include package="package_name" file="path/script_file.xml"/>
    ...

Note

For adding all in pitasc already defined scripts, use the following include statement, which you can also find in every example application file.

<include package="pitasc_library" file="models/pitasc.xml"/>

There are two options for attaching a script to a skill. The first option is to create a child of the script directly inside the <member id="scripts"> tag of the skill. You can either use the <clone> or the <type> tag to add a script. For more information about these tags and there use look at How to add a parameter to a skill, monitor, ….

<member id="scripts">
    <clone id="script_id" prototype="script_example">
        <member id="parameter">value</member>
        ...
    </clone>
</member>

The second option is to create the child of the script outside the <member id="scripts"> tag as a parameter of the skill and create a reference to this script parameter using the <reference> tag inside the <member id="scripts"> tag. This option has lower readability and thus, it is not recommended.

Note

See also the xml reference of Scripts

Example 1: Attach script to skill

<pitasc>
    <...>

    <clone prototype="project">
        <...>

        <member id="applications">
            <clone prototype="skill_sequence">
                <member id="robot" reference_id="environment.robot_ur5"/>
                <member id="skills">
                    <!-- Move to starting position -->
                    <clone prototype="skill_lin">
                        <member id="tool_frame">tool</member>
                        <member id="target_frame">start_position</member>
                        <member id="target_offsets">0.0, -0.15, 0.0, 0.0, 0, 0.0</member>
                        <member id="scripts">
                            <!-- calls my ros service at the beginning of the skill without blocking -->
                            <clone prototype="script_call_trigger_srvs">
                                <member id="service_name">/my_service</member>
                                <member id="blocking">False</member>
                                <member id="on_start">True</member>
                            </clone>
                        </member>
                    </clone>
                </member>
            </clone>
        </member>
    </clone>
</pitasc>

Example 2: Attach script to skill definition

<type id="skill_call_my_service" prototype="skill_idle_once">
    <meta>
        <member id="description">Calls my special std_srvs/Trigger service</member>
    </meta>
    <data>
        <member id="scripts">
            <clone prototype="script_call_trigger_srvs">
                <member id="service_name">/my_service</member>
            </clone>
        </member>
    </data>
</type>

Note

In this example, a skill_idle_once is used as prototype, which continues after one pitasc cycle. So, the blocking member of script_call_trigger_srvs must be false (which is the default value). Another (possibly better) way is to use a skill_idle as prototype and add also a monitor_script_result to handle the results of the trigger service respectively.