test_client.py

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#! /usr/bin/env python

import roslib
roslib.load_manifest('cob_sound')
import rospy

# Brings in the SimpleActionClient
import actionlib

# Brings in the messages used by the fibonacci action, including the
# goal message and the result message.
from cob_sound.msg import *

def say_client():
        # Creates the SimpleActionClient, passing the type of the action
        # (FibonacciAction) to the constructor.
        client = actionlib.SimpleActionClient('sound_controller/say', SayAction)

        # Waits until the action server has started up and started
        # listening for goals.
        client.wait_for_server()

        # Creates a goal to send to the action server.
        goal = SayGoal()
        goal.text.data = "Hello, how are you? I am fine."

        # Sends the goal to the action server.
        client.send_goal(goal)

        # Waits for the server to finish performing the action.
        client.wait_for_result()

        # Prints out the result of executing the action
        return client.get_result()  # A FibonacciResult
        rospy.loginfo("Say action finished")

if __name__ == '__main__':
        try:
                # Initializes a rospy node so that the SimpleActionClient can
                # publish and subscribe over ROS.
                rospy.init_node('say_client')
                result = say_client()
        except rospy.ROSInterruptException:
                print "program interrupted before completion"