test_attach_bounding_box.py
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00001 #! /usr/bin/env python
00002 
00003 import roslib; roslib.load_manifest('cotesys_ros_grasping')
00004 import rospy
00005 
00006 import actionlib
00007 from cotesys_ros_grasping.msg import AttachBoundingBoxAction, AttachBoundingBoxGoal
00008 
00009 if __name__ == '__main__':
00010 
00011       rospy.init_node('test_attach_bounding_box')
00012       
00013       attach_object_client = actionlib.SimpleActionClient('attach_bounding_box', AttachBoundingBoxAction)
00014       attach_object_client.wait_for_server()
00015       
00016       goal = AttachBoundingBoxGoal()
00017       goal.arm_name = "right_arm"
00018       goal.x_size = .03
00019       goal.y_size = .03
00020       goal.z_size = .2
00021 
00022       attach_object_client.send_goal(goal)
00023       print 'sent goal'
00024       attach_object_client.wait_for_result()
00025 
00026       rospy.sleep(3)
00027       
00028       goal.remove = True
00029 
00030       #attach_object_client.send_goal(goal)
00031       print 'sent goal'
00032       #attach_object_client.wait_for_result()
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cotesys_ros_grasping
Author(s): Gil Jones
autogenerated on Thu May 23 2013 10:22:37