4 roslib.load_manifest(
'naoqi_driver')
6 from rospy.exceptions
import ROSException
10 from roslib.rostime
import Duration
14 from std_srvs.srv
import Empty
15 import humanoid_nav_msgs
16 from humanoid_nav_msgs.msg
import StepTarget
17 from humanoid_nav_msgs.srv
import StepTargetService, StepTargetServiceRequest
20 inhibitWalkSrv = rospy.ServiceProxy(
"inhibit_walk", std_srvs.srv.Empty)
21 uninhibitWalkSrv = rospy.ServiceProxy(
"uninhibit_walk", std_srvs.srv.Empty)
25 rospy.loginfo(
"Waiting for footstep server...")
26 rospy.wait_for_service(
'footstep_srv')
27 client = rospy.ServiceProxy(
"footstep_srv", humanoid_nav_msgs.srv.StepTargetService)
28 rospy.loginfo(
"Done.")
65 if __name__ ==
'__main__':
67 rospy.init_node(
'footstep_test_client')
70 except rospy.ROSInterruptException:
71 print "program interrupted before completion"