test_actionlib_client.py

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#! /usr/bin/env python
 
import roslib; roslib.load_manifest('sound_play')
import rospy
import actionlib
from sound_play.msg import SoundRequest, SoundRequestAction, SoundRequestGoal
 
import os
 
def sound_play_client(volume=1.0):
    client = actionlib.SimpleActionClient('sound_play', SoundRequestAction)
 
    client.wait_for_server()
 
    rospy.loginfo("Need Unplugging")
    goal = SoundRequestGoal()
    goal.sound_request.sound = SoundRequest.NEEDS_UNPLUGGING
    goal.sound_request.command = SoundRequest.PLAY_ONCE
    goal.sound_request.volume = volume
 
    client.send_goal(goal)
    client.wait_for_result()
    # print client.get_result()
    rospy.loginfo("End Need Unplugging")
 
    rospy.loginfo("Need Plugging")
    goal = SoundRequestGoal()
    goal.sound_request.sound = SoundRequest.NEEDS_PLUGGING
    goal.sound_request.command = SoundRequest.PLAY_ONCE
    goal.sound_request.volume = volume
    client.send_goal(goal)
    client.wait_for_result()
    # print client.get_result()
    rospy.loginfo("End Need Plugging")
 
    rospy.loginfo("Say")
    goal = SoundRequestGoal()
    goal.sound_request.sound = SoundRequest.SAY
    goal.sound_request.command = SoundRequest.PLAY_ONCE
    goal.sound_request.arg = "Testing the actionlib interface A P I"
    goal.sound_request.volume = volume
    client.send_goal(goal)
    client.wait_for_result()
    # print client.get_result()
    rospy.loginfo("End Say")
 
    rospy.loginfo("Wav")
    goal = SoundRequestGoal()
    goal.sound_request.sound = SoundRequest.PLAY_FILE
    goal.sound_request.command = SoundRequest.PLAY_ONCE
    goal.sound_request.arg = os.path.join(roslib.packages.get_pkg_dir('sound_play'),'sounds') + "/say-beep.wav"
    goal.sound_request.volume = volume
    client.send_goal(goal)
    client.wait_for_result()
    # print client.get_result()
    rospy.loginfo("End wav")
 
if __name__ == '__main__':
    rospy.init_node('soundplay_client_test')
    sound_play_client()