scan_base_pose_client.py

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#!/usr/bin/env python
#################################################################
##\file
#
# \note
# Copyright (c) 2012 \n
# University of Bedfordshire \n\n
#
#################################################################
#
# \note
# Project name: care-o-bot
# \note
# ROS stack name: srs_public
# \note
# ROS package name: srs_symbolic_grounding
#
# \author
# Author: Beisheng Liu, email:beisheng.liu@beds.ac.uk
# \author
# Supervised by: Dayou Li, email:dayou.li@beds.ac.uk
#
# \date Date of creation: Mar 2012
#
# \brief
# test client for symbol_grounding_scan_base_pose_server
#
#################################################################
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# - Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer. \n
# - Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution. \n
# - Neither the name of the University of Bedfordshire nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission. \n
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU Lesser General Public License LGPL as
# published by the Free Software Foundation, either version 3 of the
# License, or (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU Lesser General Public License LGPL for more details.
#
# You should have received a copy of the GNU Lesser General Public
# License LGPL along with this program.
# If not, see <http://www.gnu.org/licenses/>.
#
#################################################################
import roslib; roslib.load_manifest('srs_symbolic_grounding')

from srs_symbolic_grounding.srv import *
from srs_symbolic_grounding.msg import *
from geometry_msgs.msg import *
import rospy



def scan_base_pose_client(parent_obj_geometry):

        rospy.wait_for_service('scan_base_pose')
        
        scan_base_pose = rospy.ServiceProxy('scan_base_pose', ScanBasePose)
        
        try:
                resp = list()
                resp.append(scan_base_pose(parent_obj_geometry))
                return resp
        
        except rospy.ServiceException, e:
                
                print "Service call failed: %s" %e





if __name__ == "__main__":


        
        parent_obj_geometry = SRSSpatialInfo()
        


        parent_obj_geometry.pose.position.x = 2.0
        parent_obj_geometry.pose.position.y = 2.5
        parent_obj_geometry.pose.orientation.x = 0 
        parent_obj_geometry.pose.orientation.y = 0
        parent_obj_geometry.pose.orientation.z = -0.999783754349
        parent_obj_geometry.pose.orientation.w = 0.0207948293537
        parent_obj_geometry.l = 1.5
        parent_obj_geometry.w = 0.4




        print "Requesting scan base pose."
        
        result = scan_base_pose_client(parent_obj_geometry)
        
        print result