app_unplug.py
Go to the documentation of this file.
00001 #!/usr/bin/env python
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 import roslib
00035 roslib.load_manifest('pr2_plugs_actions')
00036 
00037 import rospy
00038 from pr2_plugs_msgs.msg import *
00039 import actionlib
00040 
00041 import smach_ros
00042 import smach
00043 
00044 def main():
00045   rospy.init_node("plugs_app_test")
00046 
00047   # publisher for commands
00048   client = actionlib.SimpleActionClient('recharge', RechargeAction)
00049   client.wait_for_server(rospy.Duration(3.0))
00050 
00051   goal = RechargeGoal()
00052   cmd = RechargeCommand()
00053   cmd.plug_id = 'local'
00054   cmd.command = RechargeCommand.UNPLUG
00055   goal.command = cmd
00056   client.send_goal(goal)
00057 
00058   client.wait_for_result()
00059 
00060   print client.get_result()
00061 
00062 if __name__ == "__main__":
00063   main()
00064 


pr2_plugs_actions
Author(s): Jon Bohren, Patrick Mihelich, Wim Meeussen, and Melonee Wise
autogenerated on Mon Dec 2 2013 13:24:10