execute_pose.py
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00001 #!/usr/bin/env python
00002 
00003 # A simple action client calling the pose_manager
00004 #
00005 # Author: Armin Hornung, University of Freiburg
00006 
00007 import rospy
00008 import sys
00009 import actionlib
00010 
00011 from naoqi_bridge_msgs.msg import BodyPoseAction, BodyPoseGoal
00012 
00013 if __name__ == '__main__':
00014     if len(sys.argv) != 2:
00015         sys.exit('\nUSAGE: %s pose_name\n\n' %  sys.argv[0])
00016 
00017     rospy.init_node('execute_pose')
00018 
00019     poseClient = actionlib.SimpleActionClient("body_pose", BodyPoseAction)
00020     if not poseClient.wait_for_server(rospy.Duration(3.0)):
00021         rospy.logfatal("Could not connect to required \"body_pose\" action server, is the pose_manager node running?");
00022         rospy.signal_shutdown();
00023 
00024     goal = BodyPoseGoal
00025     goal.pose_name = str(sys.argv[1])
00026     rospy.loginfo("Calling pose_manager for pose %s...", goal.pose_name)
00027 
00028 
00029     poseClient.send_goal_and_wait(goal, rospy.Duration(5.0))
00030     #TODO: check for errors
00031     exit(0)


naoqi_pose
Author(s): Armin Hornung, Séverin Lemaignan
autogenerated on Thu Aug 27 2015 14:05:40