test_ident.cpp

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*  Author: Dula Nad
*  Created: 01.02.2013.
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#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <navcon_msgs/DOFIdentificationAction.h>

int main (int argc, char **argv)
{
  ros::init(argc, argv, "test_ident");

  // create the action client
  // true causes the client to spin its own thread
  actionlib::SimpleActionClient<navcon_msgs::DOFIdentificationAction> ac("Identification", true);

  ROS_INFO("Waiting for action server to start.");
  // wait for the action server to start
  ac.waitForServer(); //will wait for infinite time

  ROS_INFO("Action server started, sending goal.");
  // send a goal to the action
  navcon_msgs::DOFIdentificationGoal goal;
  goal.dof = goal.Surge;
  goal.command = 1;
  goal.hysteresis = 0.5;
  goal.reference = 0;
  goal.sampling_rate = 10;
  ac.sendGoal(goal);

  //wait for the action to return
  bool finished_before_timeout = ac.waitForResult(ros::Duration(30.0));
  //ac.cancelGoal();

  if (finished_before_timeout)
  {
    actionlib::SimpleClientGoalState state = ac.getState();
    ROS_INFO("Action finished: %s",state.toString().c_str());
  }
  else
  {
    ROS_INFO("Action did not finish before the time out.");
  }

  //exit
  return 0;
}