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align_base_test.py

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#!/usr/bin/env python
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import roslib
import signal
roslib.load_manifest('pr2_plugs_actions')

import rospy

import os
import sys
import time

from pr2_plugs_msgs.msg import *
from actionlib_msgs.msg import *

import actionlib

def main():
        rospy.init_node("align_base_test")

        rospy.loginfo("Starting action client")
        detect_wall_norm = actionlib.SimpleActionClient('align_base', AlignBaseAction)
        detect_wall_norm.wait_for_server()

        rospy.loginfo("Sending goal")
        goal = AlignBaseGoal()
        goal.look_point.header.frame_id = 'base_link'
        goal.look_point.header.stamp = rospy.Time.now()
        goal.look_point.point.x = -0.14
        goal.look_point.point.y = -0.82
        goal.look_point.point.z = 0.5

        detect_wall_norm.send_goal(goal)
        detect_wall_norm.wait_for_result(rospy.Duration(60.0))
        rospy.loginfo("Goal completed")

if __name__ == "__main__":
        main()

---

pr2_plugs_actions
Author(s): Jon Bohren, Patrick Mihelich, Wim Meeussen, and Melonee Wise
autogenerated on Fri Mar 1 17:51:04 2013