torso_client.cpp

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
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// author: Adam Leeper

#include <pr2_wrappers/torso_client.h>

namespace pr2_wrappers {

TorsoClient::TorsoClient()
{
  torso_client_ = new pr2_wrappers::TorsoActionClient("torso_controller/position_joint_action", true);
  //wait for the action server to come up
  while(!torso_client_->waitForServer(ros::Duration(5.0))){
    ROS_INFO("Waiting for the torso action server to come up");
  }
}

TorsoClient::~TorsoClient()
{
  delete torso_client_;
}

void TorsoClient::moveTo(const float &p){

  pr2_controllers_msgs::SingleJointPositionGoal goal;
  goal.position = p;
  goal.min_duration = ros::Duration(0.1);
  goal.max_velocity = 1.0;
  ROS_INFO("Sending torso goal %f", p);
  torso_client_->sendGoal(goal);
}

void TorsoClient::top(){
  moveTo(0.4); // all the way up is 0.2 ... should maybe read from URDF
}

void TorsoClient::bottom(){
  moveTo(0.0);
}

}