wiggle_plug_test.py
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00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
00003 #
00004 # Copyright (c) 2009, Willow Garage, Inc.
00005 # All rights reserved.
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00007 # Redistribution and use in source and binary forms, with or without
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00010 #
00011 #  * Redistributions of source code must retain the above copyright
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00013 #  * Redistributions in binary form must reproduce the above
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00015 #    disclaimer in the documentation and/or other materials provided
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00017 #  * Neither the name of the Willow Garage nor the names of its
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00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00033 
00034 import roslib
00035 roslib.load_manifest('pr2_plugs_core')
00036 
00037 import rospy
00038 
00039 import os
00040 import sys
00041 import time
00042 
00043 from pr2_plugs_msgs.msg import *
00044 from actionlib_msgs.msg import *
00045 
00046 import actionlib
00047 
00048 import sys
00049 
00050 def main():
00051   rospy.init_node("wiggle_plug_action_test")
00052 
00053   wiggle_plug_client = actionlib.SimpleActionClient('plug_wiggle', WigglePlugAction)
00054   wiggle_plug_client.wait_for_server()
00055 
00056   goal = WigglePlugGoal()
00057   goal.travel.x = 0.15
00058   goal.offset.y = 0.01
00059   goal.abort_threshold = 0.02
00060   try:
00061     goal.travel.x = float(sys.argv[1])
00062     print "Pushing in by %f", goal.travel.x
00063   except:
00064     pass
00065   goal.period = rospy.Duration(2.0)
00066   goal.move_duration = rospy.Duration(20.0)
00067   
00068   wiggle_plug_client.send_goal(goal)
00069 
00070 if __name__ == "__main__":
00071         main()


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