tuck_arms_test.py

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#!/usr/bin/env python
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import roslib
import signal
roslib.load_manifest('pr2_tuck_arms_action')

import rospy

import os
import sys
import time

from actionlib_msgs.msg import *
from pr2_common_action_msgs.msg import *

import actionlib

def main():
        rospy.init_node("tuck_arms_action_test")

        goal = TuckArmsGoal()
        goal.untuck=False
        goal.left=False
        goal.right=False

        for arg in sys.argv:
                if arg == 'l' or arg == 'left':
                        goal.left=True
                elif arg == 'r' or arg == 'right':
                        goal.right=True
                elif arg == 'u' or arg == 'untuck':
                        goal.untuck=True

        tuck_arms_client = actionlib.SimpleActionClient('tuck_arms', TuckArmsAction)
        tuck_arms_client.wait_for_server()

        rospy.loginfo("Sending tuck/untuck goal...")
        tuck_arms_client.send_goal(goal)

        tuck_arms_client.wait_for_result()


if __name__ == "__main__":
        main()