test_client.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 rospy
import actionlib
from cob_sound.msg import *

def say_client():
        client = actionlib.SimpleActionClient('say', SayAction)
        client.wait_for_server()

        # Creates a goal to send to the action server.
        goal = SayGoal()
        goal.text = "Hello, how are you? I am fine."

        # Sends the goal to the action server.
        client.send_goal(goal)

        # Waits for the server to finish performing the action.
        client.wait_for_result()

        # Prints out the result of executing the action
        return client.get_result()
        rospy.loginfo("Say action finished")

if __name__ == '__main__':
        try:
                rospy.init_node('say_client')
                result = say_client()
        except rospy.ROSInterruptException:
                print("program interrupted before completion")