wiggle_plug_test.py
Go to the documentation of this file.00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2009, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of the Willow Garage nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 00034 import roslib 00035 roslib.load_manifest('pr2_plugs_core') 00036 00037 import rospy 00038 00039 import os 00040 import sys 00041 import time 00042 00043 from pr2_plugs_msgs.msg import * 00044 from actionlib_msgs.msg import * 00045 00046 import actionlib 00047 00048 import sys 00049 00050 def main(): 00051 rospy.init_node("wiggle_plug_action_test") 00052 00053 wiggle_plug_client = actionlib.SimpleActionClient('plug_wiggle', WigglePlugAction) 00054 wiggle_plug_client.wait_for_server() 00055 00056 goal = WigglePlugGoal() 00057 goal.travel.x = 0.15 00058 goal.offset.y = 0.01 00059 goal.abort_threshold = 0.02 00060 try: 00061 goal.travel.x = float(sys.argv[1]) 00062 print "Pushing in by %f", goal.travel.x 00063 except: 00064 pass 00065 goal.period = rospy.Duration(2.0) 00066 goal.move_duration = rospy.Duration(20.0) 00067 00068 wiggle_plug_client.send_goal(goal) 00069 00070 if __name__ == "__main__": 00071 main()