pyPNP

pyPNP is a Python module that allows for integration of execution of PNP in Python. pyPNP is platform and middleware independent and has interfaces for both ROS and Naoqi. Thus it can be used to write high-level programs combining Python and PNP for any robot.

Setup

1. Full update PetriNetPlans libraries (including PNPgen, PNPros and/or PNPNaoqi)
2. Set environment variable PNP_HOME to your PetriNetPlans folder
3. Add path $PNP_HOME/pyPNP to environment variable PYTHONPATH e.g.

export PYTHONPATH=$PNP_HOME/pyPNP:$PYTHONPATH

How to use

1. Run action servers (either ROS PNPActionServer or Naoqi action servers)
2. Execute a pyPNP Python script as in the following example

import sys, os

# For ROS action servers
sys.path.insert(0, os.getenv('PNP_HOME')+'/PNPros/ROS_bridge/pnp_ros/py')
import pnp_cmd_ros
from pnp_cmd_ros import *

# For Naoqi action servers use the following lines instead
#sys.path.insert(0, os.getenv('PNP_HOME')+'/PNPnaoqi/py')
#import pnp_cmd_naoqi
#from pnp_cmd_naoqi import *

p = PNPCmd()

p.begin()

p.exec_action('say', 'hello')

for i in range(4):
    p.exec_action('turn', '90', interrupt='obstacle', recovery='waitfor_not_obstacle; restart_action')
    p.exec_action('say', 'hello')

while (not p.get_condition('personhere')):
    time.sleep(0.5)

p.exec_action('followperson', '', interrupt='stopfollow', recovery='skip_action')

p.plan_cmd('cocktail_party', 'start')

while (not p.get_condition('stopplan')):
    time.sleep(1)

p.plan_cmd('cocktail_party', 'stop')

p.exec_action('say', 'goodbye')

p.exec_action('goto', 'exit')

p.end()