hrl_pr2_arms: carefree_switch_controller.py Source File

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00001 #! /usr/bin/python
00002 
00003 import sys
00004 
00005 import roslib; roslib.load_manifest("hrl_pr2_arms")
00006 import rospy
00007 
00008 from hrl_pr2_arms.pr2_controller_switcher import ControllerSwitcher
00009 
00010 def main():
00011     rospy.init_node("carefree_switch_controller", sys.argv)
00012     if len(sys.argv) <= 1 or sys.argv[1] in ["-h", "--help"]:
00013         print "Usage: arm_side new_controller '[param_file]'"
00014         return
00015     cs = ControllerSwitcher()
00016     if len(sys.argv) >= 4:
00017         param_path = sys.argv[3]
00018         if 'find' not in param_path:
00019             param_path = "$(find hrl_pr2_arms)/params/" + param_path
00020         print cs.carefree_switch(sys.argv[1], sys.argv[2], param_path)
00021     else:
00022         print cs.carefree_switch(sys.argv[1], sys.argv[2])
00023 
00024 if __name__ == "__main__":
00025     main()