ref_simple_server.py
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00001 #!/usr/bin/env python
00002 # Copyright (c) 2009, Willow Garage, Inc.
00003 # All rights reserved.
00004 # 
00005 # Redistribution and use in source and binary forms, with or without
00006 # modification, are permitted provided that the following conditions are met:
00007 # 
00008 #     * Redistributions of source code must retain the above copyright
00009 #       notice, this list of conditions and the following disclaimer.
00010 #     * Redistributions in binary form must reproduce the above copyright
00011 #       notice, this list of conditions and the following disclaimer in the
00012 #       documentation and/or other materials provided with the distribution.
00013 #     * Neither the name of the Willow Garage, Inc. nor the names of its
00014 #       contributors may be used to endorse or promote products derived from
00015 #       this software without specific prior written permission.
00016 # 
00017 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027 # POSSIBILITY OF SUCH DAMAGE.
00028 
00029 # Author: Alexander Sorokin. 
00030 # Based on code from ref_server.cpp by Vijay Pradeep
00031 PKG='actionlib'
00032 import roslib; roslib.load_manifest(PKG)
00033 import rospy
00034 
00035 import sys
00036 
00037 from actionlib.simple_action_server import SimpleActionServer
00038 from actionlib.msg import TestAction,TestFeedback
00039 
00040 
00041 class RefSimpleServer (SimpleActionServer):
00042 
00043     def __init__(self,name):
00044         action_spec=TestAction
00045         SimpleActionServer.__init__(self,name,action_spec,self.goal_callback, False);
00046         self.start()
00047         rospy.loginfo("Creating SimpleActionServer [%s]\n", name);
00048 
00049 
00050     def goal_callback(self,goal):
00051 
00052         rospy.loginfo("Got goal %d", int(goal.goal))
00053         if goal.goal == 1:
00054             self.set_succeeded(None, "The ref server has succeeded");
00055         elif goal.goal == 2:
00056             self.set_aborted(None, "The ref server has aborted");
00057 
00058         elif goal.goal == 3:
00059             self.set_aborted(None, "The simple action server can't reject goals");
00060 
00061 
00062         elif goal.goal == 4:
00063             self.set_aborted(None, "Simple server can't save goals");
00064 
00065 
00066         elif goal.goal == 5:
00067             self.set_aborted(None, "Simple server can't save goals");
00068 
00069         elif goal.goal == 6:
00070             self.set_aborted(None, "Simple server can't save goals");
00071 
00072 
00073 
00074         elif goal.goal == 7:
00075             self.set_aborted(None, "Simple server can't save goals");
00076 
00077         elif goal.goal == 8:
00078             self.set_aborted(None, "Simple server can't save goals");
00079 
00080         elif goal.goal == 9:
00081             rospy.sleep(1);
00082             rospy.loginfo("Sending feedback")
00083             self.publish_feedback(TestFeedback(9)); #by the goal ID
00084             rospy.sleep(1);
00085             self.set_succeeded(None, "The ref server has succeeded");
00086 
00087 
00088         else:
00089             pass
00090 
00091 if __name__=="__main__":
00092   rospy.init_node("ref_simple_server");
00093   ref_server = RefSimpleServer("reference_simple_action");
00094 
00095   rospy.spin();
00096 
00097 
00098 


roseus
Author(s): Kei Okada
autogenerated on Mon Oct 6 2014 01:19:15