elevator.py

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#!/usr/bin/env python
#
# Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#   http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.


import sys
import random

import rospy
from gazebo_msgs.msg import ContactsState
from std_msgs.msg import Float64

door_closed = True

def callback(ContactsState):

        if door_closed:
                if (ContactsState.states != []):
                        rospy.loginfo("button pressed")
                        rand = (random.randint(0,1))
                        if rand == 0:
                                move_door("left")
                        else:
                                move_door("right")
                else:
                        rospy.logdebug("button not pressed")
        else:
                rospy.loginfo("Door Opened")

def listener():

        rospy.init_node('listener', anonymous=True)
        rospy.Subscriber("/elevator_button1_bumper", ContactsState, callback, queue_size=1)
        rospy.spin()

def move_door(side):

        door_closed = False
        topic_name = '/world/elevator_%s_joint_position_controller/command' %side
        pub = rospy.Publisher(topic_name,Float64,queue_size=10)
        rospy.sleep(1)
        pos = 0.87
        pub.publish(pos)

        rospy.loginfo("%s door is opening" %side)

        try:
                rospy.sleep(10)
        except rospy.exceptions.ROSInterruptException:
                return

        pos = 0
        rospy.loginfo("%s door is closing" %side)
        pub.publish(pos)

        try:
                rospy.sleep(10)
        except rospy.exceptions.ROSInterruptException:
                return

        door_closed = True

if __name__ == '__main__':
        listener()