This is an old revision of the document!
Compound Skills
When it comes to SkiROS a compound skill can be implemented by extending SkillBase. This class cannot run arbitrary python code, it has the following stages of execution:
| Name | When it runs | Note |
|---|---|---|
| onStart | Once each time the skill starts. | |
| onPreempt | When a preempt signal is sent. | A preempt signal can be sent from, for example, the SkiROS gui. |
| expand | After onStart. | Call primitive (or other compound) skills here. |
| onEnd | Once when execute has returned a terminal state. |
A compound skill can only call skills but by choosing different processor one can coordinate the execution of skill with a behaviour tree.