posture.py

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import actionlib
import rospy

from python_qt_binding.QtGui import QComboBox, QMessageBox
from naoqi_bridge_msgs.msg import BodyPoseWithSpeedAction, BodyPoseWithSpeedGoal

class PostureWidget(QComboBox):
    def __init__(self):
        super(PostureWidget, self).__init__()
        self.setSizeAdjustPolicy(QComboBox.AdjustToContents)
        self.setInsertPolicy(QComboBox.InsertAlphabetically)
        self.setEditable(True)

        posture_list = ["---", "Crouch", "LyingBack", "LyingBelly", "Sit", "SitOnChair", "SitRelax", "Stand", "StandInit", "StandZero"]
        self.addItems( posture_list )
        self.currentIndexChanged.connect( self.apply_posture )

        self.bodyPoseClient = actionlib.SimpleActionClient('pose/body_pose_naoqi', BodyPoseWithSpeedAction)

    def apply_posture(self):
        posture = self.currentText()
        rospy.loginfo("go to posture: "+ str(posture))
        self.bodyPoseClient.send_goal_and_wait(BodyPoseWithSpeedGoal(posture_name = posture, speed=0.7))
        state = self.bodyPoseClient.get_state()
        if not state == actionlib.GoalStatus.SUCCEEDED:
            QMessageBox(self, 'Error', str(posture)+' posture did not succeed: %s - cannot remove stiffness' % self.bodyPoseClient.get_goal_status_text())
            rospy.logerror("crouch pose did not succeed: %s", self.bodyPoseClient.get_goal_status_text())