用于android 源码编译/以及修改一些辅助功能，语音，摄像头插值，默认时间，等等，支持ui界面-Android source code for compilation/and modify some auxiliary functions, voice, camera interpolation, the default time, etc., to support ui interface

The predefined outcomes for a SimpleActionState are succeeded , aborted or preempted . The next step is to construct the overall state machine using these outcomes and states:

The parameter self.n_patrols is defined in our task_setup.py file which in turn reads it the ROS parameter server with a default value of 3. (We use the special value of -1 if we want the robot to loop forever.) The counter self.patrol_count is

n our current state machine we decided to move on to the next state even if the current transition had to be aborted. But it might be useful to keep a count of how often a goal was successful. For example, if this were a patrol robot and the succ