semantic_db_test_server.py
Go to the documentation of this file.
00001 #!/usr/bin/env python
00002 
00003 import roslib; roslib.load_manifest('srs_object_verification');
00004 import rospy
00005 
00006 from srs_semantics_db.srv import *
00007 from srs_semantics_db.msg import *
00008 from gdatabase.srv import *
00009 from geometry_msgs.msg import *
00010 
00011 def list_service_cb(req):
00012   if req.tbox_class.class_id != 1:
00013     print "Object class not supported"
00014     return False
00015   table1 = ABoxObject()
00016   table1.object_id = 0
00017   table2 = ABoxObject()
00018   table2.object_id = 1
00019   res = ListInstancesOfClassResponse()
00020   res.list = [table1,table2]
00021   return res
00022 
00023 def info_service_cb(req):
00024   res = GetInfoObjectResponse()
00025   if req.objectID == 0:
00026     res.objectName = "kitchen"
00027     res.objectPose = Pose(position=Point(-3.2,0.055,0.9), orientation=Quaternion(0,0,0,0))
00028     res.classID = 1
00029   elif req.objectID == 1:
00030     res.objectName = "table1"
00031     res.objectPose = Pose(position=Point(0.67,1.26,0.74), orientation=Quaternion(0,0,0,0))
00032     res.classID = 1
00033   else:
00034     print "Object info not found"
00035     return False
00036   return res
00037 
00038 def start_server():
00039     rospy.init_node('semantic_db_test_server')
00040     s = rospy.Service('list_all_instances_of_class', ListInstancesOfClass, list_service_cb)
00041     s = rospy.Service('get_info_object', GetInfoObject, info_service_cb)
00042     print "Ready to return objects from db."
00043     rospy.spin()
00044 
00045 if __name__ == "__main__":
00046     start_server()


srs_object_verification
Author(s): Georg Arbeiter
autogenerated on Mon Oct 6 2014 08:29:40