moo.py

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#!/usr/bin/env python
import roslib; roslib.load_manifest('moo')
import rospy
import os
from rfnserver import RFNServer

class MooServer:
  def __init__(self):
    self.server = RFNServer("moo", self.moo)
    self.server.register_with_frame("mooing")
    self.server.start()

  def moo(self, semantic_frame):
    # moo here
    os.system("./chirp.bash")
    self.server.set_succeeded()



def main():
    rospy.init_node('as_moo')
    # register with roboframenet
    server = MooServer()
    rospy.spin()

if __name__ == '__main__':
    main()