Go to the documentation of this file.00001
00002 import roslib
00003 import random
00004 roslib.load_manifest("hack_the_web_program_executor")
00005 roslib.load_manifest("robot_poser")
00006 roslib.load_manifest("museum_srvs")
00007
00008 import rospy
00009 import sys
00010
00011 from hack_the_web_program_executor import poseutils
00012
00013 from museum_srvs.srv import PoseRobot, PoseRobotResponse
00014
00015 """ This node advertises a service to pose the robot """
00016
00017
00018
00019 class Poser():
00020
00021 def __init__(self, servicename):
00022 self.service = rospy.Service(servicename, PoseRobot, self.pose_robot_cb)
00023
00024 def pose_robot_cb(self, request):
00025 self.pose_robot(request.pose)
00026 return PoseRobotResponse()
00027
00028 def pose_robot(self, pose):
00029 actionset = poseutils.scaled_pose_to_actionset(pose)
00030 actionset.execute()
00031
00032 if __name__=="__main__":
00033
00034 pose_service = "/museum/pose_robot_real"
00035
00036 rospy.init_node("robot_poser_real")
00037
00038 p = Poser(pose_service)
00039
00040 print "Poser service started"
00041
00042 rospy.spin()