clearAllObjects.py
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00001 #! /usr/bin/env python
00002 
00003 PKG = 'pr2_arm_navigation_actions'
00004 
00005 import roslib; roslib.load_manifest(PKG)
00006 import rospy
00007 import sys
00008 
00009 from arm_navigation_msgs.msg import CollisionObject
00010 from arm_navigation_msgs.msg import AttachedCollisionObject
00011 from arm_navigation_msgs.msg import CollisionObjectOperation
00012 
00013 if __name__ == '__main__':
00014     
00015     obj_pub = rospy.Publisher('collision_object',CollisionObject)
00016     att_pub = rospy.Publisher('attached_collision_object', AttachedCollisionObject)
00017 
00018     rospy.init_node('clear_all_objects')
00019 
00020     rospy.sleep(2.)
00021 
00022     co = CollisionObject()
00023     co.header.frame_id = "base_link"
00024     co.header.stamp = rospy.Time.now()
00025 
00026     co.id = "all"
00027     co.operation.operation = CollisionObjectOperation.REMOVE
00028     obj_pub.publish(co)
00029 
00030     ca = AttachedCollisionObject()
00031     ca.link_name = "all"
00032     ca.object = co
00033     att_pub.publish(ca)
00034 
00035     rospy.sleep(2.)
00036     


pr2_arm_navigation_actions
Author(s): Sachin Chitta
autogenerated on Tue Apr 22 2014 19:30:34