run_pick_and_place_demo.py

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#!/usr/bin/python
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# author: Kaijen Hsiao

#Pick and place demo: picks objects up from one side of the table and moves 
#them to the other, then switches sides

import roslib
roslib.load_manifest('pr2_pick_and_place_demos')
import rospy
import actionlib
from pr2_pick_and_place_demos.pick_and_place_demo import *
from pr2_controllers_msgs.msg import SingleJointPositionAction, SingleJointPositionGoal

if __name__ == '__main__':

    rospy.init_node('pick_and_place_demo', anonymous=False)

    use_slip_controller = rospy.get_param('/reactive_grasp_node_right/use_slip_controller', 0)
    use_slip_detection = rospy.get_param('/reactive_grasp_node_right/use_slip_detection', 0)
    just_start = rospy.get_param("~just_start", True)

    pick_and_place_demo = PickAndPlaceDemo(use_slip_controller = use_slip_controller, \
                                               use_slip_detection = use_slip_detection)
    if just_start:
        #lift the torso all the way up
        torso_action_client = actionlib.SimpleActionClient('torso_controller/position_joint_action', SingleJointPositionAction);
        rospy.loginfo("run_pick_and_place_demo: waiting for torso action server")
        torso_action_client.wait_for_server()
        rospy.loginfo("run_pick_and_place_demo: torso action server found")
        goal = SingleJointPositionGoal()
        goal.position = 0.295
        rospy.loginfo("sending command to lift torso")
        torso_action_client.send_goal(goal)
        torso_action_client.wait_for_result(rospy.Duration(30))

        #start the pick and place demo
        rospy.loginfo("starting pick and place demo")
        pick_and_place_demo.start_autonomous_thread(False)
        rospy.spin()
    else:
        rospy.loginfo("starting pick and place keyboard interface")
        pick_and_place_demo.keyboard_interface()