outlet_server.py

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#! /usr/bin/python
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#* Author: Eitan Marder-Eppstein
#***********************************************************

PKG = 'pr2_plugs_actions'

import roslib; roslib.load_manifest(PKG)
import roslib.message
import rospy
import yaml

from pr2_plugs_msgs.srv import GetOutlets, GetOutletsRequest, GetOutletsResponse
from pr2_plugs_msgs.msg import OutletPose

def serve_plug_locations(req):
  rospy.loginfo("Serving plug locations")
  try:
    poses = rospy.get_param('outlet_approach_poses')
  except:
    print 'no poses'
    poses = {}
  if not 'local' in poses:
    poses['local'] = {'position':[0,0,0], 'orientation': [0,0,0,0]}
  #print poses

  resp = GetOutletsResponse()
  for pose in poses:
    op = OutletPose()
    op.name = pose
    roslib.message.fill_message_args(op.approach_pose, poses[pose])
    resp.poses.append(op)
  #print resp

  return resp

if __name__ == "__main__":
  rospy.init_node("outlet_server")
  s = rospy.Service("outlet_locations", GetOutlets, serve_plug_locations) 
  rospy.spin()