tuck_arms_test.py

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#!/usr/bin/env python
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"""
usage: tuck_arms.py [-l ACTION] [-r ACTION]

Options:
  -l or --left   Action for left arm
  -r or --right  Action for right arm

Actions:
  t or tuck
  u or untuck

NB: If action unspecified for an arm, defaults to tuck

"""


import getopt

import rospy

import actionlib

from pr2_common_action_msgs.msg import TuckArmsAction, TuckArmsGoal

def main():
    action_name = 'tuck_arms'

    # check for command line arguments, and send goal to action server if required
    myargs = rospy.myargv()[1:]
    if len(myargs):
        goal = TuckArmsGoal()
        goal.tuck_left = True
        goal.tuck_right = True
        opts, args = getopt.getopt(myargs, 'hql:r:', ['quit','left','right'])
        for arm, action in opts:
            if arm in ('-l', '--left'):
                if action in ('tuck', 't'):
                    goal.tuck_left = True
                elif action in ('untuck', 'u'):
                    goal.tuck_left = False
                else:
                    rospy.logerr('Invalid action for right arm: %s'%action)
                    rospy.signal_shutdown("ERROR")

            if arm in ('-r', '--right'):
                if action in ('tuck', 't'):
                    goal.tuck_right = True
                elif action in ('untuck', 'u'):
                    goal.tuck_right = False
                else:
                    rospy.logerr('Invalid action for left arm: %s'%action)
                    rospy.signal_shutdown("ERROR")

            if arm in ('--help', '-h'):
                print __doc__ % vars()
    
    tuck_arm_client = actionlib.SimpleActionClient(action_name, TuckArmsAction)
    rospy.logdebug('Waiting for action server to start')
    tuck_arm_client.wait_for_server(rospy.Duration(10.0))
    rospy.logdebug('Sending goal to action server')
    tuck_arm_client.send_goal_and_wait(goal, rospy.Duration(30.0), rospy.Duration(5.0))

if __name__ == "__main__":
    rospy.init_node('tuck_amrs_test')
    main()