digital_io_blink.py

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#!/usr/bin/env python

# Copyright (c) 2013-2015, Rethink Robotics
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import argparse

import rospy

import baxter_interface.digital_io as DIO


def test_interface(io_component='left_itb_light_outer'):
    """Blinks a Digital Output on then off."""
    rospy.loginfo("Blinking Digital Output: %s", io_component)
    b = DIO.DigitalIO(io_component)

    print "Initial state: ", b.state

    # turn on light
    b.set_output(True)
    rospy.sleep(1)
    print "New state: ", b.state

    # reset output
    b.set_output(False)
    rospy.sleep(1)
    print "Final state:", b.state


def main():
    """RSDK Digital IO Example: Blink

    Turns the output of a DigitalIO component on then off again
    while printing the state at each step. Simple demonstration
    of using the baxter_interface.DigitalIO class.

    Run this example with default arguments and watch the light
    on the left arm Navigator blink on and off while the console
    echos the state. Use the component_id argument or ROS Parameter
    to change the DigitalIO component used.
    """
    epilog = """
ROS Parameters:
  ~component_id        - name of DigitalIO component to use

Baxter DigitalIO
    Note that 'DigitalIO' components are only those that use
    the custom ROS Messages baxter_core_msgs/DigitalIOState
    and baxter_core_msgs/DigitalOutputCommand.

    Component names can be found on the Wiki, or by echoing
    the names field of the digital_io_states topic:
      $ rostopic echo -n 1 /robot/digital_io_states/names
    """
    arg_fmt = argparse.RawDescriptionHelpFormatter
    parser = argparse.ArgumentParser(formatter_class=arg_fmt,
                                     description=main.__doc__,
                                     epilog=epilog)
    parser.add_argument(
        '-c', '--component', dest='component_id',
        default='left_itb_light_outer',
        help=('name of Digital IO component to use'
              ' (default: left_itb_light_outer)')
    )
    args = parser.parse_args(rospy.myargv()[1:])

    rospy.init_node('rsdk_digital_io_blink', anonymous=True)
    io_component = rospy.get_param('~component_id', args.component_id)
    test_interface(io_component)

if __name__ == '__main__':
    main()