server_test.py

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#!/usr/bin/python
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# author: Bence Magyar

import rospy
from actionlib import SimpleActionClient
from geometry_msgs.msg import PoseArray, Pose, Point
from std_msgs.msg import Header
from moveit_simple_grasps.msg import GenerateGraspsAction, GenerateGraspsGoal
from moveit_msgs.msg import Grasp
import geometry_msgs

grasp_publisher = None
grasps_ac = None

def generate_grasps(pose, width):
        #send request to block grasp generator service
        grasps_ac.wait_for_server()
        rospy.loginfo("Successfully connected.")
        goal = GenerateGraspsGoal()
        goal.pose = pose.pose
        goal.width = width
        grasps_ac.send_goal(goal)
        rospy.loginfo("Sent goal, waiting:\n" + str(goal))
        t_start = rospy.Time.now()
        grasps_ac.wait_for_result()
        t_end = rospy.Time.now()
        t_total = t_end - t_start
        rospy.loginfo("Result received in " + str(t_total.to_sec()))
        grasp_list = grasps_ac.get_result().grasps
        return grasp_list

def publish_grasps_as_poses(grasps):
        rospy.loginfo("Publishing PoseArray on /grasp_pose_from_block_bla for grasp_pose")
        graspmsg = Grasp()
        grasp_PA = PoseArray()
        header = Header()
        header.frame_id = "base_link"
        header.stamp = rospy.Time.now()
        grasp_PA.header = header
        for graspmsg in grasps:
                p = Pose(graspmsg.grasp_pose.pose.position, graspmsg.grasp_pose.pose.orientation)
                grasp_PA.poses.append(p)
        grasp_publisher.publish(grasp_PA)
        rospy.loginfo('Published ' + str(len(grasp_PA.poses)) + ' poses')
        rospy.sleep(2)


if __name__ == '__main__':
        name = 'grasp_object_server'
        rospy.init_node(name, anonymous=False)
        rospy.loginfo("Connecting to grasp generator AS")
        grasps_ac = SimpleActionClient('/moveit_simple_grasps_server/generate', GenerateGraspsAction)
        grasp_publisher = rospy.Publisher("generated_grasps", PoseArray)
        object_pose = geometry_msgs.msg.PoseStamped()
        object_pose.pose.position.x = 1.0
        object_pose.pose.position.y = 1.0
        object_pose.pose.position.z = 1.0
        object_pose.pose.orientation.w = 1.0
        object_pose.pose.orientation.x = 0.0
        object_pose.pose.orientation.y = 0.0
        object_pose.pose.orientation.z = 0.0
        grasp_list = generate_grasps(object_pose, 0.06)
        rospy.loginfo('Generated ' + str(len(grasp_list)) + ' grasps.')
        publish_grasps_as_poses(grasp_list)
        rospy.sleep(10.0)