cob_obstacle_distance_moveit: test_service

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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_control_msgs.srv import GetObstacleDistance, GetObstacleDistanceRequest, GetObstacleDistanceResponse
00020 
00021 if __name__ == "__main__":
00022     rospy.wait_for_service('/calculate_distance')
00023     try:
00024         client = rospy.ServiceProxy('/calculate_distance', GetObstacleDistance)
00025         req = GetObstacleDistanceRequest()
00026         req.links.append("arm_left_7_link")
00027         res = client(req)
00028         print res
00029     except rospy.ServiceException, e:
00030         print "Service call failed: %s"%e