test_footsteps.py

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#!/usr/bin/env python

import roslib
roslib.load_manifest('naoqi_driver')
import rospy
from rospy.exceptions import ROSException


import roslib.rostime
from roslib.rostime import Duration


import std_srvs
from std_srvs.srv import Empty
import humanoid_nav_msgs
from humanoid_nav_msgs.msg import StepTarget
from humanoid_nav_msgs.srv import StepTargetService, StepTargetServiceRequest

def footstep_client():
        inhibitWalkSrv = rospy.ServiceProxy("inhibit_walk", std_srvs.srv.Empty)
        uninhibitWalkSrv = rospy.ServiceProxy("uninhibit_walk", std_srvs.srv.Empty)             
        

        
        rospy.loginfo("Waiting for footstep server...")
        rospy.wait_for_service('footstep_srv')
        client = rospy.ServiceProxy("footstep_srv", humanoid_nav_msgs.srv.StepTargetService)
        rospy.loginfo("Done.")
        
#       try:
        goal = StepTarget()
        goal.leg = 0
        goal.pose.x = 0.08
        goal.pose.theta = 0.3
        client(goal)
        
        goal.leg = 1
        goal.pose.theta = 0.3
        client(goal)
        
        goal.leg = 0
        goal.pose.x = 0.0
        goal.pose.y = -0.16
        client(goal)
        
        goal.leg = 1
        goal.pose.x = 0.00
        goal.pose.y = 0.088
        goal.pose.theta = 0.0
        client(goal)
        
        goal.leg = 0
        goal.pose.x = 0.0
        goal.pose.y = -0.16
        client(goal)
        
        goal.leg = 1
        goal.pose.x = 0.00
        goal.pose.y = 0.0
        goal.pose.theta = 0.0
        client(goal)
        
        
        
if __name__ == '__main__':
        try:
                rospy.init_node('footstep_test_client')
                footstep_client()
                
        except rospy.ROSInterruptException:
                print "program interrupted before completion"