app_plugin.py
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00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
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00004 # Copyright (c) 2009, Willow Garage, Inc.
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00033 
00034 import roslib
00035 roslib.load_manifest('pr2_plugs_actions')
00036 
00037 import rospy
00038 from pr2_plugs_msgs.msg import *
00039 import actionlib
00040 
00041 import smach_ros
00042 import smach
00043 
00044 def main():
00045   rospy.init_node("plugs_app_test")
00046 
00047   # publisher for commands
00048   client = actionlib.SimpleActionClient('recharge', RechargeAction)
00049   client.wait_for_server(rospy.Duration(3.0))
00050 
00051   goal = RechargeGoal()
00052   cmd = RechargeCommand()
00053   cmd.plug_id = 'local'
00054   cmd.command = RechargeCommand.PLUG_IN
00055   goal.command = cmd
00056   client.send_goal(goal)
00057 
00058   client.wait_for_result()
00059 
00060   print client.get_result()
00061 
00062 if __name__ == "__main__":
00063   main()
00064 


pr2_plugs_actions
Author(s): Jon Bohren, Patrick Mihelich, Wim Meeussen, and Melonee Wise
autogenerated on Thu Nov 28 2013 11:47:13