tools.py

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#!/usr/bin/env python
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# Author Melonee Wise

import roslib; roslib.load_manifest('pr2_arm_move_ik')
import rospy

from pr2_common_action_msgs.msg import *


def get_action_seed(ns):
  cart_space_goal = ArmMoveIKGoal()
  cart_space_goal.ik_seed.name = rospy.get_param(ns +"/joint_names")
  cart_space_goal.ik_seed.position = rospy.get_param(ns +"/seed_position")
  return cart_space_goal.ik_seed