tidyup_tools: move_arms_to_side.py Source File

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00001 #! /usr/bin/env python
00002 
00003 import roslib; roslib.load_manifest('tidyup_tools')
00004 import rospy
00005 import sys, traceback
00006 from tidyup_msgs import msg
00007 import actionlib
00008 
00009 if __name__ == '__main__':
00010   try:
00011     rospy.init_node('arms_to_side', anonymous=True)
00012     rospy.loginfo('moving arms to side.')
00013     arm_service = actionlib.SimpleActionClient('/tidyup/side_position_action', msg.ArmToSideAction)
00014     arm_service.wait_for_server()
00015     rospy.loginfo('action server found.')
00016     side_goal = msg.ArmToSideGoal()
00017     side_goal.right_arm = True
00018     arm_service.send_goal_and_wait(side_goal)
00019     side_goal.right_arm = False
00020     side_goal.left_arm = True
00021     arm_service.send_goal_and_wait(side_goal)
00022     rospy.loginfo('done.')
00023   except:
00024     traceback.print_exc(file=sys.stdout)