concert_service_gazebo: gazebo_robot

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00001 #!/usr/bin/env python
00002 
00003 import concert_service_utilities
00004 import rospy
00005 
00006 from concert_service_gazebo import GazeboRobotManager
00007 
00008 if __name__ == '__main__':
00009     rospy.init_node('gazebo_robot_manager')
00010     (service_name, unused_service_description, unused_service_id, unused_key) = concert_service_utilities.get_service_info()
00011     robots      = rospy.get_param('robots', [])
00012     #robot_types = rospy.get_param('types', [])
00013     world_name = rospy.get_param('world', 'gazebo')
00014     world_namespace = '/services/' + service_name + '/' + str(world_name) + '/'
00015     concert_name = rospy.get_param('/concert/name')
00016     gazebo_manager = GazeboRobotManager(world_namespace, concert_name)
00017     gazebo_manager.loginfo('spawning robots : %s'%str(robots))
00018     gazebo_manager.spawn_robots(robots)
00019 
00020     gazebo_manager.spin()
00021     gazebo_manager.loginfo('Bye Bye')