pyrobosim_ros.ros_conversions.goal_specification_from_ros
- pyrobosim_ros.ros_conversions.goal_specification_from_ros(msg, world)
Uses a world object to resolve a GoalSpecification message to a list of goal literals for task and motion planning.
- Parameters:
msg (
pyrobosim_msgs.msg.GoalSpecification) – ROS message.world (
pyrobosim.core.world.World) – World object to use to resolve literals.
- Returns:
List of literals describing a goal specification.
- Return type:
list[tuple]