00001 /********************************************************************* 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 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00037 #include <ros/ros.h> 00038 #include <actionlib/client/simple_action_client.h> 00039 #include <pr2_controllers_msgs/JointTrajectoryAction.h> 00040 00041 typedef actionlib::SimpleActionClient<pr2_controllers_msgs::JointTrajectoryAction> JointExecutorActionClient; 00042 00043 void spinThread() 00044 { 00045 ros::spin(); 00046 } 00047 00048 int main(int argc, char** argv) 00049 { 00050 ros::init(argc, argv, "test_controller"); 00051 boost::thread spin_thread(&spinThread); 00052 JointExecutorActionClient *traj_action_client_ = new JointExecutorActionClient("collision_free_arm_trajectory_action_right_arm"); 00053 00054 while(!traj_action_client_->waitForServer(ros::Duration(1.0))){ 00055 ROS_INFO("Waiting for the joint_trajectory_action action server to come up"); 00056 if(!ros::ok()) { 00057 exit(0); 00058 } 00059 } 00060 00061 pr2_controllers_msgs::JointTrajectoryGoal goal; 00062 goal.trajectory.joint_names.push_back("r_shoulder_pan_joint"); 00063 goal.trajectory.joint_names.push_back("r_shoulder_lift_joint"); 00064 goal.trajectory.joint_names.push_back("r_upper_arm_roll_joint"); 00065 goal.trajectory.joint_names.push_back("r_elbow_flex_joint"); 00066 goal.trajectory.joint_names.push_back("r_forearm_roll_joint"); 00067 goal.trajectory.joint_names.push_back("r_wrist_flex_joint"); 00068 goal.trajectory.joint_names.push_back("r_wrist_roll_joint"); 00069 00070 goal.trajectory.points.resize(1); 00071 for(unsigned int i=0; i < 7; i++) 00072 goal.trajectory.points[0].positions.push_back(0.0); 00073 goal.trajectory.points[0].positions[0] = 0.0; 00074 goal.trajectory.points[0].positions[0] = -1.57/2.0; 00075 goal.trajectory.points[0].time_from_start = ros::Duration(0.0); 00076 00077 traj_action_client_->sendGoal(goal); 00078 ROS_INFO("Sent goal"); 00079 00080 while(!traj_action_client_->getState().isDone() && ros::ok()) 00081 { 00082 ros::Duration(0.1).sleep(); 00083 } 00084 return 0; 00085 }