cob_3d_mapping_pipeline: test.py Source File

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00001 #!/usr/bin/python
00002 
00003 import roslib
00004 roslib.load_manifest('cob_script_server')
00005 roslib.load_manifest('cob_sdh')
00006 roslib.load_manifest('cob_torso')
00007 roslib.load_manifest('cob_tray')
00008 roslib.load_manifest('cob_arm')
00009 import rospy
00010 
00011 from simple_script_server import script
00012 
00013 class MyScript(script):
00014     def Initialize(self):
00015         rospy.loginfo("Initializing all components...")
00016 
00017        # self.sss.init("tray")
00018        # self.sss.init("torso")
00019        # self.sss.init("arm")
00020        # self.sss.init("sdh")
00021         
00022            #self.sss.move("arm","wavein")
00023        # self.sss.move("torso","home")
00024        # self.sss.move("tray","down")
00025        # self.sss.move("sdh","home")
00026        # self.sss.move("base","home")
00027         
00028 
00029 
00030     def Run(self):
00031         rospy.loginfo("Running script...")
00032 
00033         self.sss.move("base",[0, 0, 4])
00034         self.sss.move("base",[0, 0, -4])
00035   
00036 
00037         
00038 
00039         
00040 
00041 if __name__ == "__main__":
00042     SCRIPT = MyScript()
00043     SCRIPT.Start()