00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2009, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of the Willow Garage nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 00034 import roslib 00035 import signal 00036 roslib.load_manifest('pr2_plugs_actions') 00037 00038 import rospy 00039 00040 import os 00041 import sys 00042 import time 00043 00044 from pr2_plugs_msgs.msg import * 00045 from actionlib_msgs.msg import * 00046 00047 import actionlib 00048 00049 def main(): 00050 rospy.init_node("align_base_test") 00051 00052 rospy.loginfo("Starting action client") 00053 detect_wall_norm = actionlib.SimpleActionClient('align_base', AlignBaseAction) 00054 detect_wall_norm.wait_for_server() 00055 00056 rospy.loginfo("Sending goal") 00057 goal = AlignBaseGoal() 00058 goal.look_point.header.frame_id = 'base_link' 00059 goal.look_point.header.stamp = rospy.Time.now() 00060 goal.look_point.point.x = -0.14 00061 goal.look_point.point.y = -0.82 00062 goal.look_point.point.z = 0.5 00063 00064 detect_wall_norm.send_goal(goal) 00065 detect_wall_norm.wait_for_result(rospy.Duration(60.0)) 00066 rospy.loginfo("Goal completed") 00067 00068 if __name__ == "__main__": 00069 main()