start_controller.py
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00001 #!/usr/bin/env python
00002 
00003 # Copyright (c) 2015, Fetch Robotics Inc.
00004 # All rights reserved.
00005 #
00006 # Redistribution and use in source and binary forms, with or without
00007 # modification, are permitted provided that the following conditions are met:
00008 #
00009 #     * Redistributions of source code must retain the above copyright
00010 #       notice, this list of conditions and the following disclaimer.
00011 #     * Redistributions in binary form must reproduce the above copyright
00012 #       notice, this list of conditions and the following disclaimer in the
00013 #       documentation and/or other materials provided with the distribution.
00014 #     * Neither the name of the Fetch Robotics Inc. nor the names of its
00015 #       contributors may be used to endorse or promote products derived from
00016 #       this software without specific prior written permission.
00017 # 
00018 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00019 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00020 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00021 # ARE DISCLAIMED. IN NO EVENT SHALL FETCH ROBOTICS INC. BE LIABLE FOR ANY
00022 # DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00023 # (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00024 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00025 # ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00026 # (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
00027 # THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00028 
00029 # Author: Michael Ferguson
00030 
00031 import sys
00032 import rospy
00033 import actionlib
00034 from actionlib_msgs.msg import GoalStatus
00035 from robot_controllers_msgs.msg import QueryControllerStatesAction, \
00036                                        QueryControllerStatesGoal, \
00037                                        ControllerState
00038 
00039 ACTION_NAME = "/query_controller_states"
00040 
00041 if __name__ == "__main__":
00042 
00043     if len(sys.argv) < 2:
00044         print("usage: start_controller.py <controller_name> [optional_controller_type]")
00045         exit(-1)
00046 
00047     rospy.init_node("start_robot_controllers")
00048 
00049     rospy.loginfo("Connecting to %s..." % ACTION_NAME)
00050     client = actionlib.SimpleActionClient(ACTION_NAME, QueryControllerStatesAction)
00051     client.wait_for_server()
00052     rospy.loginfo("Done.")
00053 
00054     state = ControllerState()
00055     state.name = sys.argv[1]
00056     if len(sys.argv) > 2:
00057         state.type = sys.argv[2]
00058     state.state = state.RUNNING
00059 
00060     goal = QueryControllerStatesGoal()
00061     goal.updates.append(state)
00062 
00063     rospy.loginfo("Requesting that %s be started..." % state.name)
00064     client.send_goal(goal)
00065     client.wait_for_result()
00066     if client.get_state() == GoalStatus.SUCCEEDED:
00067         rospy.loginfo("Done.")
00068     elif client.get_state() == GoalStatus.ABORTED:
00069         rospy.logerr(client.get_goal_status_text())


robot_controllers_interface
Author(s): Michael Ferguson
autogenerated on Thu Jun 6 2019 21:50:24