execute_pose.py

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#!/usr/bin/env python

# SVN $HeadURL$
# SVN $Id$

# A simple action client calling the pose_manager
#
# Author: Armin Hornung, University of Freiburg 



import roslib
roslib.load_manifest('nao_remote')
import rospy
import sys
import actionlib

from nao_msgs.msg import BodyPoseAction, BodyPoseGoal

if __name__ == '__main__':
    if len(sys.argv) != 2:
        sys.exit('\nUSAGE: %s pose_name\n\n' %  sys.argv[0])
    
    rospy.init_node('execute_pose')
    
    poseClient = actionlib.SimpleActionClient("body_pose", BodyPoseAction)
    if not poseClient.wait_for_server(rospy.Duration(3.0)):
        rospy.logfatal("Could not connect to required \"body_pose\" action server, is the pose_manager node running?");
        rospy.signal_shutdown();        
    
    goal = BodyPoseGoal
    goal.pose_name = str(sys.argv[1])
    rospy.loginfo("Calling pose_manager for pose %s...", goal.pose_name)
    
    
    poseClient.send_goal_and_wait(goal, rospy.Duration(5.0))
    #TODO: check for errors    
    exit(0)