positionActionTest.cpp
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00001 /*
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 Joe Romano
00030  */
00031 
00032 // @author: Joe Romano
00033 // @email: joeromano@gmail.com 
00034 // @brief: positionActionTest.cpp - example for using the position
00035 //         action server
00036 
00037 #include <ros/ros.h>
00038 #include <pr2_controllers_msgs/Pr2GripperCommandAction.h>
00039 #include <actionlib/client/simple_action_client.h>
00040 
00041 // Our Action interface type, provided as a typedef for convenience
00042 typedef actionlib::SimpleActionClient<pr2_controllers_msgs::Pr2GripperCommandAction> GripperClient;
00043 
00044 class Gripper{
00045 private:
00046   GripperClient* gripper_client_;  
00047 
00048 public:
00049   //Action client initialization
00050   Gripper(){
00051 
00052     //Initialize the client for the Action interface to the gripper controller
00053     //and tell the action client that we want to spin a thread by default
00054     gripper_client_ = new GripperClient("r_gripper_sensor_controller/gripper_action", true);
00055     
00056     //wait for the gripper action server to come up 
00057     while(!gripper_client_->waitForServer(ros::Duration(5.0))){
00058       ROS_INFO("Waiting for the r_gripper_sensor_controller/gripper_action action server to come up");
00059     }
00060   }
00061 
00062   ~Gripper(){
00063     delete gripper_client_;
00064   }
00065 
00066   //Open the gripper
00067   void open(){
00068     pr2_controllers_msgs::Pr2GripperCommandGoal open;
00069     open.command.position = 0.08;
00070     open.command.max_effort = -1.0;
00071 
00072     ROS_INFO("Sending open goal");
00073     gripper_client_->sendGoal(open);
00074     gripper_client_->waitForResult();
00075     if(gripper_client_->getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
00076       ROS_INFO("The gripper opened!");
00077     else
00078       ROS_INFO("The gripper failed to open.");
00079   }
00080 
00081   //Close the gripper
00082   void close(){
00083     pr2_controllers_msgs::Pr2GripperCommandGoal squeeze;
00084     squeeze.command.position = 0.0;
00085     squeeze.command.max_effort = -1.0;
00086 
00087     ROS_INFO("Sending squeeze goal");
00088     gripper_client_->sendGoal(squeeze);
00089     gripper_client_->waitForResult();
00090     if(gripper_client_->getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
00091       ROS_INFO("The gripper closed!");
00092     else
00093       ROS_INFO("The gripper failed to close.");
00094   }
00095 };
00096 
00097 int main(int argc, char** argv){
00098   ros::init(argc, argv, "simple_gripper");
00099 
00100   Gripper gripper;
00101 
00102   gripper.open();
00103   gripper.close();
00104 
00105   return 0;
00106 }


pr2_gripper_sensor_action
Author(s): Joe Romano
autogenerated on Thu Aug 27 2015 14:25:38