scan_base_pose_client.py
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00001 #!/usr/bin/env python
00002 #################################################################
00003 ##\file
00004 #
00005 # \note
00006 # Copyright (c) 2012 \n
00007 # University of Bedfordshire \n\n
00008 #
00009 #################################################################
00010 #
00011 # \note
00012 # Project name: care-o-bot
00013 # \note
00014 # ROS stack name: srs_public
00015 # \note
00016 # ROS package name: srs_symbolic_grounding
00017 #
00018 # \author
00019 # Author: Beisheng Liu, email:beisheng.liu@beds.ac.uk
00020 # \author
00021 # Supervised by: Dayou Li, email:dayou.li@beds.ac.uk
00022 #
00023 # \date Date of creation: Mar 2012
00024 #
00025 # \brief
00026 # test client for symbol_grounding_scan_base_pose_server
00027 #
00028 #################################################################
00029 #
00030 # Redistribution and use in source and binary forms, with or without
00031 # modification, are permitted provided that the following conditions are met:
00032 #
00033 # - Redistributions of source code must retain the above copyright
00034 # notice, this list of conditions and the following disclaimer. \n
00035 # - Redistributions in binary form must reproduce the above copyright
00036 # notice, this list of conditions and the following disclaimer in the
00037 # documentation and/or other materials provided with the distribution. \n
00038 # - Neither the name of the University of Bedfordshire nor the names of its
00039 # contributors may be used to endorse or promote products derived from
00040 # this software without specific prior written permission. \n
00041 #
00042 # This program is free software: you can redistribute it and/or modify
00043 # it under the terms of the GNU Lesser General Public License LGPL as
00044 # published by the Free Software Foundation, either version 3 of the
00045 # License, or (at your option) any later version.
00046 #
00047 # This program is distributed in the hope that it will be useful,
00048 # but WITHOUT ANY WARRANTY; without even the implied warranty of
00049 # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
00050 # GNU Lesser General Public License LGPL for more details.
00051 #
00052 # You should have received a copy of the GNU Lesser General Public
00053 # License LGPL along with this program.
00054 # If not, see <http://www.gnu.org/licenses/>.
00055 #
00056 #################################################################
00057 import roslib; roslib.load_manifest('srs_symbolic_grounding')
00058 
00059 from srs_symbolic_grounding.srv import *
00060 from srs_symbolic_grounding.msg import *
00061 from geometry_msgs.msg import *
00062 import rospy
00063 
00064 
00065 
00066 def scan_base_pose_client(parent_obj_geometry):
00067 
00068         rospy.wait_for_service('scan_base_pose')
00069         
00070         scan_base_pose = rospy.ServiceProxy('scan_base_pose', ScanBasePose)
00071         
00072         try:
00073                 resp = list()
00074                 resp.append(scan_base_pose(parent_obj_geometry))
00075                 return resp
00076         
00077         except rospy.ServiceException, e:
00078                 
00079                 print "Service call failed: %s" %e
00080 
00081 
00082 
00083 
00084 
00085 if __name__ == "__main__":
00086 
00087 
00088         
00089         parent_obj_geometry = SRSSpatialInfo()
00090         
00091 
00092 
00093         parent_obj_geometry.pose.position.x = 2.0
00094         parent_obj_geometry.pose.position.y = 2.5
00095         parent_obj_geometry.pose.orientation.x = 0 
00096         parent_obj_geometry.pose.orientation.y = 0
00097         parent_obj_geometry.pose.orientation.z = -0.999783754349
00098         parent_obj_geometry.pose.orientation.w = 0.0207948293537
00099         parent_obj_geometry.l = 1.5
00100         parent_obj_geometry.w = 0.4
00101 
00102 
00103 
00104 
00105         print "Requesting scan base pose."
00106         
00107         result = scan_base_pose_client(parent_obj_geometry)
00108         
00109         print result
00110                 
00111 
00112 


srs_symbolic_grounding
Author(s): Beisheng Liu
autogenerated on Mon Oct 6 2014 08:23:09