trigger_opendoor.py

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#! /usr/bin/env python
# Copyright (c) 2008, Willow Garage, Inc.
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#             this software without specific prior written permission.
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# Author: Wim Meeussen



import roslib; roslib.load_manifest('pr2_doors_executive')
import rospy

from actionlib import SimpleActionClient
from door_msgs.msg import DoorAction, DoorGoal, Door


def main():
    rospy.init_node('trigger_open_door')

    # initial door
    prior_door = Door()
    prior_door.frame_p1.x = 1.0
    prior_door.frame_p1.y = -0.5
    prior_door.frame_p2.x = 1.0
    prior_door.frame_p2.y = 0.5
    prior_door.door_p1.x = 1.0
    prior_door.door_p1.y = -0.5
    prior_door.door_p2.x = 1.0
    prior_door.door_p2.y = 0.5
    prior_door.travel_dir.x = 1.0
    prior_door.travel_dir.y = 0.0
    prior_door.travel_dir.z = 0.0
    prior_door.rot_dir = Door.ROT_DIR_COUNTERCLOCKWISE
    prior_door.hinge = Door.HINGE_P2
    prior_door.header.frame_id = "base_footprint"

    door = DoorGoal()
    door.door = prior_door

    ac = SimpleActionClient('move_through_door', DoorAction)
    print 'Waiting for open door action server'
    ac.wait_for_server()
    print 'Sending goal to open door action server'
    ac.send_goal_and_wait(door, rospy.Duration(500.0), rospy.Duration(2.0))
    
if __name__ == '__main__':
    main()