call_SingleShot.py
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00001 #!/usr/bin/env python
00002 
00003 #
00004 # Software License Agreement (Modified BSD License)
00005 #
00006 #  Copyright (c) 2012, PAL Robotics, S.L.
00007 #  All rights reserved.
00008 #
00009 #  Redistribution and use in source and binary forms, with or without
00010 #  modification, are permitted provided that the following conditions
00011 #  are met:
00012 #
00013 #   * Redistributions of source code must retain the above copyright
00014 #     notice, this list of conditions and the following disclaimer.
00015 #   * Redistributions in binary form must reproduce the above
00016 #     copyright notice, this list of conditions and the following
00017 #     disclaimer in the documentation and/or other materials provided
00018 #     with the distribution.
00019 #   * Neither the name of PAL Robotics, S.L. nor the names of its
00020 #     contributors may be used to endorse or promote products derived
00021 #     from this software without specific prior written permission.
00022 #
00023 #  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00024 #  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00025 #  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00026 #  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00027 #  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00028 #  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00029 #  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00030 #  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031 #  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00032 #  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00033 #  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00034 #  POSSIBILITY OF SUCH DAMAGE.
00035 #
00036 import roslib; roslib.load_manifest('pal_blort')
00037 
00038 import sys
00039 
00040 import rospy
00041 from pal_blort.srv import *
00042 from geometry_msgs.msg import Pose
00043 
00044 service='blort_tracker/singleshot_service'
00045 
00046 def singleShotClient():
00047     try:
00048         rospy.wait_for_service(service, 2.0)
00049         try:
00050             singleShotCall = rospy.ServiceProxy(service, EstimatePose)
00051             resp1 = singleShotCall()
00052             return resp1.Pose
00053         except rospy.ServiceException, e:
00054             0
00055             #print "Service call failed: %s"%e
00056     except rospy.ROSException, e:
00057         print "Service unavailable"
00058         
00059 
00060 if __name__ == "__main__":
00061     print "Calling BLORT singleshot service"
00062     pose = singleShotClient()
00063     print pose


blort_ros
Author(s): Bence Magyar
autogenerated on Thu Jan 2 2014 11:39:12