torso_client.cpp
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00001 /*
00002  * Copyright (c) 2011, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 // author: Adam Leeper
00031 
00032 #include <pr2_wrappers/torso_client.h>
00033 
00034 namespace pr2_wrappers {
00035 
00036 TorsoClient::TorsoClient()
00037 {
00038   torso_client_ = new pr2_wrappers::TorsoActionClient("torso_controller/position_joint_action", true);
00039   //wait for the action server to come up
00040   while(!torso_client_->waitForServer(ros::Duration(5.0))){
00041     ROS_INFO("Waiting for the torso action server to come up");
00042   }
00043 }
00044 
00045 TorsoClient::~TorsoClient()
00046 {
00047   delete torso_client_;
00048 }
00049 
00051 void TorsoClient::moveTo(const float &p){
00052 
00053   pr2_controllers_msgs::SingleJointPositionGoal goal;
00054   goal.position = p;
00055   goal.min_duration = ros::Duration(0.1);
00056   goal.max_velocity = 1.0;
00057   ROS_INFO("Sending torso goal %f", p);
00058   torso_client_->sendGoal(goal);
00059 }
00060 
00062 void TorsoClient::top(){
00063   moveTo(0.4); // all the way up is 0.2 ... should maybe read from URDF
00064 }
00065 
00067 void TorsoClient::bottom(){
00068   moveTo(0.0);
00069 }
00070 
00071 }
00072 


pr2_wrappers
Author(s): Adam Leeper
autogenerated on Fri Jan 3 2014 11:50:39