switch_controllers.py

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#!/usr/bin/env python
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# Author: Bhaskara Marthi

import roslib; roslib.load_manifest('articulate_cart')
import rospy
from pr2_mechanism_msgs.srv import SwitchController, SwitchControllerRequest

class SwitchControllers:

    def __init__(self):
        self.goal_received = False
        self.ready_sub = rospy.Subscriber('cart_pushing/ready_pose_achieved', roslib.msg.Header, self.goal_cb)

    def goal_cb(self, msg):
        if not self.goal_received:
            rospy.loginfo('Switching controllers now that ready pose has been achieved')
            self.goal_received = True
            srv = rospy.ServiceProxy('pr2_controller_manager/switch_controller', SwitchController)
            srv(['l_cart', 'r_cart'], ['l_arm_controller', 'r_arm_controller'],
                SwitchControllerRequest.STRICT)


def switch_back_controllers():
    srv = rospy.ServiceProxy('pr2_controller_manager/switch_controller', SwitchController)
    srv(['l_arm_controller', 'r_arm_controller'],
        ['l_cart', 'r_cart'],
        SwitchControllerRequest.BEST_EFFORT)

def main():
    rospy.init_node('switch_controllers')
    node = SwitchControllers()
    rospy.on_shutdown(switch_back_controllers)
    rospy.spin()


if __name__ == "__main__":
    main()