tuck_arms_client.cpp

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// author: Adam Leeper

#include <pr2_wrappers/tuck_arms_client.h>

namespace pr2_wrappers {

TuckArmsClient::TuckArmsClient(ros::NodeHandle &nh, const ros::Duration &timeout) :
  nh_(nh),
  timeout_(timeout),  
  tuck_arms_action_client_("tuck_arms", true)
{}

TuckArmsClient::~TuckArmsClient(){
}

bool TuckArmsClient::tuckArms( bool tuck_right, bool tuck_left, bool wait)
{
  std::string right_action = (tuck_right)?("tucking"):("untucking");
  std::string left_action =  (tuck_left)?("tucking"):("untucking");
  ROS_INFO_STREAM("Calling tuck arms action: " << right_action << " right arm, " << left_action << " left arm.");
  
  pr2_common_action_msgs::TuckArmsGoal goal;
  goal.tuck_left = tuck_left;
  goal.tuck_right = tuck_right;
  if(wait)
  {
    actionlib::SimpleClientGoalState state = tuck_arms_action_client_.sendGoalAndWait(goal, timeout_, ros::Duration(5.0));
    if(state.state_ != state.SUCCEEDED)
    { 
      if(! state.isDone()) ROS_WARN("Tuck arms action timed out with result %d!", state.state_);
      else ROS_WARN("Tuck arms action returned with result %d!", state.state_);
      return false;
    }
  }
  else
  {
    tuck_arms_action_client_.sendGoal(goal);
  }
  return true;
}

}