posture.py
Go to the documentation of this file.
00001 # Software License Agreement (BSD License)
00002 #
00003 # Copyright (c) 2008, Willow Garage, Inc.
00004 # Copyright (c) 2014, Aldebaran Robotics (c)
00005 # All rights reserved.
00006 #
00007 # Redistribution and use in source and binary forms, with or without
00008 # modification, are permitted provided that the following conditions
00009 # are met:
00010 #
00011 #  * Redistributions of source code must retain the above copyright
00012 #    notice, this list of conditions and the following disclaimer.
00013 #  * Redistributions in binary form must reproduce the above
00014 #    copyright notice, this list of conditions and the following
00015 #    disclaimer in the documentation and/or other materials provided
00016 #    with the distribution.
00017 #  * Neither the name of the Willow Garage nor the names of its
00018 #    contributors may be used to endorse or promote products derived
00019 #    from this software without specific prior written permission.
00020 #
00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 # POSSIBILITY OF SUCH DAMAGE.
00033 
00034 import actionlib
00035 import rospy
00036 
00037 from python_qt_binding.QtGui import QComboBox, QMessageBox
00038 from naoqi_bridge_msgs.msg import BodyPoseWithSpeedAction, BodyPoseWithSpeedGoal
00039 
00040 class PostureWidget(QComboBox):
00041     def __init__(self):
00042         super(PostureWidget, self).__init__()
00043         self.setSizeAdjustPolicy(QComboBox.AdjustToContents)
00044         self.setInsertPolicy(QComboBox.InsertAlphabetically)
00045         self.setEditable(True)
00046 
00047         posture_list = ["---", "Crouch", "LyingBack", "LyingBelly", "Sit", "SitOnChair", "SitRelax", "Stand", "StandInit", "StandZero"]
00048         self.addItems( posture_list )
00049         self.currentIndexChanged.connect( self.apply_posture )
00050 
00051         self.bodyPoseClient = actionlib.SimpleActionClient('pose/body_pose_naoqi', BodyPoseWithSpeedAction)
00052 
00053     def apply_posture(self):
00054         posture = self.currentText()
00055         rospy.loginfo("go to posture: "+ str(posture))
00056         self.bodyPoseClient.send_goal_and_wait(BodyPoseWithSpeedGoal(posture_name = posture, speed=0.7))
00057         state = self.bodyPoseClient.get_state()
00058         if not state == actionlib.GoalStatus.SUCCEEDED:
00059             QMessageBox(self, 'Error', str(posture)+' posture did not succeed: %s - cannot remove stiffness' % self.bodyPoseClient.get_goal_status_text())
00060             rospy.logerror("crouch pose did not succeed: %s", self.bodyPoseClient.get_goal_status_text())


nao_viz
Author(s): Stefan Osswald
autogenerated on Thu Aug 20 2015 14:54:04