detect_plug_test.py
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00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
00003 #
00004 # Copyright (c) 2009, Willow Garage, Inc.
00005 # All rights reserved.
00006 #
00007 # Redistribution and use in source and binary forms, with or without
00008 # modification, are permitted provided that the following conditions
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00011 #  * Redistributions of source code must retain the above copyright
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00013 #  * Redistributions in binary form must reproduce the above
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00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00033 
00034 import roslib
00035 roslib.load_manifest('pr2_plugs_actions')
00036 
00037 import rospy
00038 
00039 import os
00040 import sys
00041 import time
00042 
00043 from pr2_plugs_msgs.msg import *
00044 from actionlib_msgs.msg import *
00045 from pr2_common_action_msgs.msg import *
00046 from std_srvs.srv import *
00047 
00048 import actionlib
00049 
00050 
00051 def main():
00052   rospy.init_node("detect_plug_test")
00053 
00054   # Construct action ac
00055   rospy.loginfo("Starting action client...")
00056   action_client = actionlib.SimpleActionClient('detect_plug', DetectPlugInGripperAction)
00057   action_client.wait_for_server()
00058   rospy.loginfo("Action client connected to action server.")
00059 
00060   # Call the action
00061   rospy.loginfo("Calling the action server...")
00062   action_goal = DetectPlugInGripperGoal()
00063   if action_client.send_goal_and_wait(action_goal, rospy.Duration(60.0), rospy.Duration(5.0)) == GoalStatus.SUCCEEDED:
00064     rospy.loginfo('Call to action server succeeded')
00065   else:
00066     rospy.logerr('Call to action server failed')
00067 
00068 
00069 if __name__ == "__main__":
00070   main()
00071 


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