test_client_5.py
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00001 #! /usr/bin/env python
00002 
00003 import roslib; roslib.load_manifest('srs_decision_making_experimental')
00004 import rospy
00005 
00006 # Brings in the SimpleActionClient
00007 import actionlib
00008 
00009 # Brings in the messages used by the SRS DM action, including the
00010 # goal message and the result message.
00011 import srs_decision_making.msg as xmsg
00012 
00013 def DM_client():
00014     # Creates the SimpleActionClient, passing the type of the action
00015     # constructor.
00016     client = actionlib.SimpleActionClient('srs_decision_making_actions', xmsg.ExecutionAction)
00017 
00018     # Waits until the action server has started up and started
00019     # listening for goals.
00020     client.wait_for_server()
00021 
00022     # Creates a goal to send to the action server.
00023     _goal=xmsg.ExecutionGoal()
00024     _goal.action="move"
00025 
00026     _goal.parameter="[-0.4 1.19 0]"
00027     _goal.priority=1
00028     # Sends the goal to the action server.
00029     client.send_goal(_goal)
00030 
00031 
00032     # Waits for the server to finish performing the action.
00033     client.wait_for_result()
00034 
00035     # Prints out the result of executing the action
00036     return client.get_result()
00037 
00038 
00039  
00040 
00041 
00042 if __name__ == '__main__':
00043     try:
00044         # Initializes a rospy node so that the SimpleActionClient can
00045         # publish and subscribe over ROS.
00046         rospy.init_node('dm_client1')
00047         result = DM_client()
00048         rospy.loginfo('result %s',result)
00049         # print ("Result:" result)
00050     except rospy.ROSInterruptException:
00051         print "program interrupted before completion"


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