simulation_object_tracker: open_door

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00001 #! /usr/bin/env python
00002 
00003 import roslib; roslib.load_manifest('simulation_object_tracker')
00004 import rospy
00005 import sys, traceback
00006 from geometry_msgs import msg as geometry
00007 from tidyup_msgs import srv
00008 from tidyup_msgs import msg
00009 import actionlib
00010 
00011 if __name__ == '__main__':
00012   try:
00013     rospy.init_node('door_open_action_client', anonymous=True)
00014     action_client = actionlib.SimpleActionClient('/open_door', msg.OpenDoorAction)
00015     
00016     # TEST
00017     rospy.loginfo('opening door via action call.')
00018     action_client.wait_for_server()
00019     rospy.loginfo('connected to action server.')
00020     goal = msg.OpenDoorGoal()
00021     goal.right_arm = True
00022     rospy.loginfo('sending goal to action server.')
00023     action_client.send_goal_and_wait(goal)
00024     rospy.loginfo('action call complete.')
00025   except:
00026     traceback.print_exc(file=sys.stdout)