Go to the documentation of this file.00001
00002
00003 import roslib; roslib.load_manifest('sound_play')
00004 import rospy
00005 import actionlib
00006 from sound_play.msg import SoundRequest, SoundRequestAction, SoundRequestGoal
00007
00008 import os
00009
00010 def sound_play_client():
00011 client = actionlib.SimpleActionClient('sound_play', SoundRequestAction)
00012
00013 client.wait_for_server()
00014
00015 print "Need Unplugging"
00016 goal = SoundRequestGoal()
00017 goal.sound_request.sound = SoundRequest.NEEDS_UNPLUGGING
00018 goal.sound_request.command = SoundRequest.PLAY_ONCE
00019
00020 client.send_goal(goal)
00021 client.wait_for_result()
00022 print client.get_result()
00023 print "End Need Unplugging"
00024 print
00025
00026 print "Need Plugging"
00027 goal = SoundRequestGoal()
00028 goal.sound_request.sound = SoundRequest.NEEDS_PLUGGING
00029 goal.sound_request.command = SoundRequest.PLAY_ONCE
00030 client.send_goal(goal)
00031 client.wait_for_result()
00032 print client.get_result()
00033 print "End Need Plugging"
00034 print
00035
00036 print "Say"
00037 goal = SoundRequestGoal()
00038 goal.sound_request.sound = SoundRequest.SAY
00039 goal.sound_request.command = SoundRequest.PLAY_ONCE
00040 goal.sound_request.arg = "Testing the actionlib interface A P I"
00041 client.send_goal(goal)
00042 client.wait_for_result()
00043 print client.get_result()
00044 print "End Say"
00045 print
00046
00047 print "Wav"
00048 goal = SoundRequestGoal()
00049 goal.sound_request.sound = SoundRequest.PLAY_FILE
00050 goal.sound_request.command = SoundRequest.PLAY_ONCE
00051 goal.sound_request.arg = os.path.join(roslib.packages.get_pkg_dir('sound_play'),'sounds') + "/say-beep.wav"
00052 client.send_goal(goal)
00053 client.wait_for_result()
00054 print client.get_result()
00055 print "End wav"
00056 print
00057
00058 if __name__ == '__main__':
00059 rospy.init_node('soundplay_client_test')
00060 sound_play_client()