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+#!/usr/bin/env python%0A%0Afrom flexbe_core import EventState, Logger%0Aimport rospy%0Afrom std_msgs.msg import Float64%0A%0A%0Aclass SaraSetAngle(EventState):%0A    %22%22%22%0A    Make sara change the angle her the head%0A%0A    -- angle     Float64      angle of the head%0A%0A    %3C= done                what's said is said%0A    %22%22%22%0A%0A%0A    def __init__(self, angle):%0A        %22%22%22Constructor%22%22%22%0A%0A        super(SaraSetAngle, self).__init__(outcomes = %5B'done'%5D)%0A        self.angle = angle%0A%0A    def execute(self, userdata):%0A%0A        Logger.loginfo('Setting head angle to '+self.angle)%0A        pub = rospy.Publisher(%22/sara_head_pitch_controller/command%22, Float64, queue_size=1)%0A        ms = Float64%0A        ms.data = self.angle%0A        pub.publish(ms)%0A%0A        Logger.loginfo('Publishing done')%0A%0A        return 'done'

ajoute set head angle