cob_moveit_interface: reactive_planning

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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 rospy
 import simple_moveit_interface as smi
 import six
 
 #Requirements:
 #- latest cob_bringup layer with lookat_component
 #- sensor input for moveit enabled?
 #- robot facing a wall in the background
 #- lookat_action server and monitor started?
 #- lookat works for both arm positions?
 #
 #- These positions currently are cob3-3 specific
 
 
 if __name__ == '__main__':
         rospy.init_node('move_example')
 
         smi.add_ground()
         rospy.sleep(1.0)
 
         #while rospy.get_time() == 0.0: pass
         rospy.logerr('Are you using cob3-3? Did you make sure all requirements are met? Read the code file!')
         ans = six.moves.input('[y/n] ')
         if ans == 'y':
                 while not rospy.is_shutdown():
                         print("Going Left")
                         success = smi.moveit_joint_goal("arm", [0.6132456177400849, -1.2667904686872227, -1.3351177346743512, 0.623757247043325, 2.6443916288424734, 0.2923237627622837, -2.121120037112681], True)
                         #success = smi.moveit_joint_goal("arm", [0.4474927123777702, -1.4042363503909014, -1.3427710033793065, 0.8556133802524375, 2.8670612914249532, 0.2447635934094972, -1.8559613290891581], True)
                         print("Going Right")
                         success = smi.moveit_joint_goal("arm", [-0.4429381361070571, -2.027464518329273, 0.5376498408783335, -0.07512923290336566, -0.5249117648804152, 0.4386535797226253, -0.7085319372561121], True)
                         #success = smi.moveit_joint_goal("arm", [-0.2875421191578158, -1.8672004116184473, 0.5368099709961187, -0.07435202034076506, -0.523647727633693, 0.43781158053874125, -0.709280142446791], True)
         elif ans == 'n':
                 rospy.logerr('Please activate it!')
 
 