app_plugin.py

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#!/usr/bin/env python
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import roslib
roslib.load_manifest('pr2_plugs_actions')

import rospy
from pr2_plugs_msgs.msg import *
import actionlib

import smach_ros
import smach

def main():
  rospy.init_node("plugs_app_test")

  # publisher for commands
  client = actionlib.SimpleActionClient('recharge', RechargeAction)
  client.wait_for_server(rospy.Duration(3.0))

  goal = RechargeGoal()
  cmd = RechargeCommand()
  cmd.plug_id = 'local'
  cmd.command = RechargeCommand.PLUG_IN
  goal.command = cmd
  client.send_goal(goal)

  client.wait_for_result()

  print client.get_result()

if __name__ == "__main__":
  main()