cotesys_ros_grasping: test_move_arm_relative

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00001 #! /usr/bin/env python
00002 
00003 import roslib; roslib.load_manifest('cotesys_ros_grasping')
00004 import rospy
00005 
00006 import actionlib
00007 from cotesys_ros_grasping.msg import MoveArmRelativeCartesianPointAction, MoveArmRelativeCartesianPointGoal 
00008 
00009 if __name__ == '__main__':
00010 
00011       rospy.init_node('test_move_arm_relative_cartesian_point')
00012       
00013       move_to_pos_client = actionlib.SimpleActionClient('move_arm_relative_cartesian_point', MoveArmRelativeCartesianPointAction)
00014       move_to_pos_client.wait_for_server()
00015       
00016       goal = MoveArmRelativeCartesianPointGoal()
00017       goal.arm_name = "right_arm"
00018       goal.rel_point.x = 0.0
00019       goal.rel_point.y = .1
00020       goal.rel_point.z = 0.0
00021 
00022       move_to_pos_client.send_goal(goal)
00023       print 'sent goal'
00024       move_to_pos_client.wait_for_result()