pyrobosim_ros.ros_conversions.goal_specification_from_ros

pyrobosim_ros.ros_conversions.goal_specification_from_ros(msg: pyrobosim_msgs.msg.GoalSpecification, world: World) → list[tuple[str, ...]]

Uses a world object to resolve a GoalSpecification message to a list of goal literals for task and motion planning.

Parameters:

• msg – ROS message.

• world – World object to use to resolve literals.

Returns:

List of literals describing a goal specification.