control_base_position.py

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#!/usr/bin/env python
# Copyright (c) 2008, Willow Garage, Inc.
# All rights reserved.
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# modification, are permitted provided that the following conditions are met:
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#       this software without specific prior written permission.
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# Author: Vijay Pradeep
# (Derived from pointhead.py)

PKG = "pr2_mechanism_controllers"

import roslib; roslib.load_manifest(PKG)

import sys
import os
import string
from time import sleep

import rospy
from geometry_msgs.msg import PointStamped, Point


def control_base_pose_odom_frame(x,y,w):
    head_angles = rospy.Publisher('base_position_controller/set_pose_odom_frame_command', Point)
    rospy.init_node('base_position_commander', anonymous=True)
    p = Point(x, y, w) ;
    sleep(1)
    head_angles.publish( p  )
    sleep(1)

def usage():
    return "%s [pos_x] [pos_y] [theta (rad)]"%sys.argv[0]

if __name__ == "__main__":

    if len(sys.argv) ==4:
        control_base_pose_odom_frame(float(sys.argv[1]), float(sys.argv[2]), float(sys.argv[3]) )
    else:
        print usage()
        sys.exit(1)