get_point.py

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#
# Copyright (c) 2009, Georgia Tech Research Corporation
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#  \author Advait Jain (Healthcare Robotics Lab, Georgia Tech.)

import roslib; roslib.load_manifest('UI_segment_object')

import rospy
from UI_segment_object.srv import GetPt
from UI_segment_object.srv import None_Bool

reset_ui = None
get_3d_point = None

def initialize_service():
    global reset_ui, get_3d_point
    reset_srv_name = 'UI_reset'
    srv_name = 'get_3D_pt'

    rospy.loginfo('waiting for service: %s'%reset_srv_name)
    rospy.wait_for_service(reset_srv_name)
    rospy.loginfo('waiting for service: %s'%srv_name)
    rospy.wait_for_service(srv_name)
    rospy.loginfo('Done')

    reset_ui = rospy.ServiceProxy(reset_srv_name, None_Bool)
    get_3d_point = rospy.ServiceProxy(srv_name, GetPt)


def get_point():
    global reset_ui, get_3d_point
    reset_ui()
    resp = get_3d_point()
    return resp.pt.x, resp.pt.y, resp.pt.z


if __name__ == '__main__':
    rospy.init_node('point_and_click_client')

    initialize_service()
    x,y,z = get_point()
    print '3D point:', x, y, z