From 8715110eb3bd4b94abc418c060245d2866aac839 Mon Sep 17 00:00:00 2001 From: Peter van Dooren Date: Tue, 2 Apr 2019 23:08:25 +0200 Subject: [PATCH] find smach state is called differently when looking for anyone --- action_server/src/action_server/actions/find.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/action_server/src/action_server/actions/find.py b/action_server/src/action_server/actions/find.py index dce41e29..c94a75fe 100644 --- a/action_server/src/action_server/actions/find.py +++ b/action_server/src/action_server/actions/find.py @@ -129,10 +129,13 @@ def _configure(self, robot, config): # person in room if not self._semantics.object.id: self._semantics.object.id = 'someone' + discard_other_labels = False + else: + discard_other_labels = True self._found_entity_designator = VariableDesignator(resolve_type=Entity) self._find_state_machines = [ states.FindPersonInRoom(robot, self._semantics.source_location.id, self._semantics.object.id, - True, self._found_entity_designator.writeable)] + discard_other_labels, self._found_entity_designator.writeable)] self._config_result.context['location'] = { 'designator': EdEntityDesignator(self._robot, id=self._semantics.source_location.id) }