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mapping_fake.py

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#!/usr/bin/python
import roslib
roslib.load_manifest('cob_3d_mapping_pipeline_fake')

import rospy
import actionlib

from cob_3d_mapping_msgs.srv import *
from cob_3d_mapping_msgs.msg import *

class MappingPipelineFake:
        def __init__(self):
                self.running = False
                self.server = actionlib.SimpleActionServer('trigger_mapping', TriggerMappingAction, self.trigger_continuous_mapping, False)
                self.server.start()
        
        def trigger_continuous_mapping(self, goal):
                feedback = TriggerMappingFeedback()
                result = TriggerMappingResult()
                if self.running and goal.start == False:
                        feedback.currentStep.data = "stopping"
                        self.server.publish_feedback(feedback)
                        self.running = False
                        rospy.loginfo("Mapping set to stopped")
                        result.message.data = "Mapping is now stopped"
                if not self.running and goal.start:
                        feedback.currentStep.data = "starting"
                        self.server.publish_feedback(feedback)
                        self.running = True
                        rospy.loginfo("Mapping set to running")
                        result.message.data = "Mapping is now running"
                self.server.set_succeeded(result)
        


if __name__ == "__main__":
        rospy.init_node('3d_mapping_pipeline_fake')
        mapping = MappingPipelineFake()
        rospy.loginfo("Fake 3d mapping ready.")
        rospy.spin()

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cob_3d_mapping_pipeline_fake
Author(s): Georg Arbeiter
autogenerated on Fri Mar 1 15:43:10 2013