godock_client.cpp

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* Author: Gonçalo Cabrita on 11/10/2010
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#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <roomba_500_series/GoDockAction.h>

int main (int argc, char **argv)
{
        ros::init(argc, argv, "test_godock");

        // create the action client
        // true causes the client to spin it's own thread
        actionlib::SimpleActionClient<roomba_500_series::GoDockAction> ac("godock", true);

        ROS_INFO("Waiting for action server to start.");
        // wait for the action server to start
        ac.waitForServer(); //will wait for infinite time

        ROS_INFO("Action server started, sending goal.");
        // send a goal to the action
        roomba_500_series::GoDockGoal goal;
        goal.timeout = ros::Duration(30.0);
        ac.sendGoal(goal);

        //wait for the action to return
        bool finished_before_timeout = ac.waitForResult(ros::Duration(30.0));

        if(finished_before_timeout)
        {
                actionlib::SimpleClientGoalState state = ac.getState();
                ROS_INFO("Action finished: %s",state.toString().c_str());
        }
        else
        ROS_INFO("Action did not finish before the time out.");

        //exit
        return 0;
}
// EOF