cob_default_robot_behavior: trigger

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00001 #!/usr/bin/env python
00002 #
00003 # Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
00004 #
00005 # Licensed under the Apache License, Version 2.0 (the "License");
00006 # you may not use this file except in compliance with the License.
00007 # You may obtain a copy of the License at
00008 #
00009 #   http://www.apache.org/licenses/LICENSE-2.0
00010 #
00011 # Unless required by applicable law or agreed to in writing, software
00012 # distributed under the License is distributed on an "AS IS" BASIS,
00013 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00014 # See the License for the specific language governing permissions and
00015 # limitations under the License.
00016 
00017 
00018 import rospy
00019 from cob_default_robot_behavior import default_behavior
00020 from std_srvs.srv import Trigger, TriggerResponse
00021 
00022 def trigger_srvs():
00023     rospy.init_node('trigger_srvs')
00024     s = rospy.Service('/behavior/setLightCyan',Trigger,default_behavior.setLightCyan_cb)
00025     s = rospy.Service('/behavior/setLightRed',Trigger,default_behavior.setLightRed_cb)
00026     s = rospy.Service('/behavior/setLightGreen',Trigger,default_behavior.setLightGreen_cb)
00027     s = rospy.Service('/behavior/setLightCyanSweep',Trigger,default_behavior.setLightCyanSweep_cb)
00028     s = rospy.Service('/behavior/setLightCyanBreath',Trigger,default_behavior.setLightCyanBreath_cb)
00029 
00030     s = rospy.Service('/behavior/setMimicAfraid',Trigger,default_behavior.setMimicAfraid_cb)
00031     s = rospy.Service('/behavior/setMimicAngry',Trigger,default_behavior.setMimicAngry_cb)
00032     s = rospy.Service('/behavior/setMimicAsking',Trigger,default_behavior.setMimicAsking_cb)
00033     s = rospy.Service('/behavior/setMimicBlinkingLeft',Trigger,default_behavior.setMimicBlinkingLeft_cb)
00034     s = rospy.Service('/behavior/setMimicBlinking',Trigger,default_behavior.setMimicBlinking_cb)
00035     s = rospy.Service('/behavior/setMimicBlinkingRight',Trigger,default_behavior.setMimicBlinkingRight_cb)
00036     s = rospy.Service('/behavior/setMimicBored',Trigger,default_behavior.setMimicBored_cb)
00037     s = rospy.Service('/behavior/setMimicBusy',Trigger,default_behavior.setMimicBusy_cb)
00038     s = rospy.Service('/behavior/setMimicConfused',Trigger,default_behavior.setMimicConfused_cb)
00039     s = rospy.Service('/behavior/setMimicDefault',Trigger,default_behavior.setMimicDefault_cb)
00040     s = rospy.Service('/behavior/setMimicFallingAsleep',Trigger,default_behavior.setMimicFallingAsleep_cb)
00041     s = rospy.Service('/behavior/setMimicHappy',Trigger,default_behavior.setMimicHappy_cb)
00042     s = rospy.Service('/behavior/setMimicLaughing',Trigger,default_behavior.setMimicLaughing_cb)
00043     s = rospy.Service('/behavior/setMimicNo',Trigger,default_behavior.setMimicNo_cb)
00044     s = rospy.Service('/behavior/setMimicSad',Trigger,default_behavior.setMimicSad_cb)
00045     s = rospy.Service('/behavior/setMimicSearching',Trigger,default_behavior.setMimicSearching_cb)
00046     s = rospy.Service('/behavior/setMimicSleeping',Trigger,default_behavior.setMimicSleeping_cb)
00047     s = rospy.Service('/behavior/setMimicSurprised',Trigger,default_behavior.setMimicSurprised_cb)
00048     s = rospy.Service('/behavior/setMimicTired',Trigger,default_behavior.setMimicTired_cb)
00049     s = rospy.Service('/behavior/setMimicWakingUp',Trigger,default_behavior.setMimicWakingUp_cb)
00050     s = rospy.Service('/behavior/setMimicYes',Trigger,default_behavior.setMimicYes_cb)
00051 
00052     s = rospy.Service('/behavior/soundHello',Trigger,default_behavior.soundHello_cb)
00053 
00054     rospy.spin()
00055 
00056 if __name__ == "__main__":
00057     trigger_srvs()