dynamic_action.py

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#! /usr/bin/python
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#* Author: Eitan Marder-Eppstein
#***********************************************************
import roslib
import rospy
import sys

class DynamicAction(object):
    def __init__(self, name):
        # remove "Action" string from name
        assert("Action" in name)
        self.name     = name[0:len(name)-6]
        self.action   = self.load_submsg('Action')
        self.goal     = self.load_submsg('Goal')
        self.feedback = self.load_submsg('Feedback')
        self.result   = self.load_submsg('Result')

    def load_submsg(self, subname):
        msgclass = roslib.message.get_message_class(self.name + subname)
        if msgclass is None:
            rospy.logfatal('Could not load message for: %s'%(self.name+subname))
            sys.exit(1)
        return msgclass