rcommander: pose_stamped_scripted_action

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00001 #!/usr/bin/python
00002 import roslib; roslib.load_manifest('rcommander')
00003 import rospy
00004 import actionlib
00005 import pr2_interactive_manipulation.msg as pim
00006 import sys
00007 
00008 action_name = sys.argv[1]
00009 rospy.init_node(action_name + '_client', anonymous=True)
00010 client = actionlib.SimpleActionClient(action_name, pim.PoseStampedScriptedAction)
00011 client.wait_for_server()
00012 
00013 goal = pim.PoseStampedScriptedGoal()
00014 goal.pose_stamped.pose.position.x = .742
00015 goal.pose_stamped.pose.position.y = -.026
00016 goal.pose_stamped.pose.position.z = .4955
00017 goal.pose_stamped.header.frame_id = '/base_link'
00018 client.send_goal(goal)
00019 client.wait_for_result()
00020 print client.get_result()