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_srvs.srv import SetString, SetStringRequest, SetStringResponse 00020 00021 00022 if __name__ == "__main__": 00023 rospy.wait_for_service('/register_links') 00024 try: 00025 client = rospy.ServiceProxy('/register_links', SetString) 00026 req = SetStringRequest() 00027 req.data = "arm_left_7_link" 00028 res = client(req) 00029 print res 00030 except rospy.ServiceException, e: 00031 print "Service call failed: %s"%e