gazebo_services.py

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#!/usr/bin/env python
import roslib; roslib.load_manifest('cob_gazebo')

import rospy
import tf
import actionlib

from pr2_controllers_msgs.msg import JointTrajectoryAction
from move_base_msgs.msg import MoveBaseAction

# care-o-bot includes
from cob_srvs.srv import *

class gazebo_services():

        def __init__(self):
                # base
                self.base_client = actionlib.SimpleActionClient('/move_base', MoveBaseAction)
                #self.base_init_srv = rospy.Service('/base_controller/init', Trigger, self.base_init_cb)
                #self.base_stop_srv = rospy.Service('/base_controller/stop', Trigger, self.base_stop_cb)
                #self.base_recover_srv = rospy.Service('/base_controller/recover', Trigger, self.base_recover_cb)
                #self.base_set_operation_mode_srv = rospy.Service('/base_controller/set_operation_mode', SetOperationMode, self.base_set_operation_mode_cb)

                #torso
                self.torso_client = actionlib.SimpleActionClient('/torso_controller/joint_trajectory_action', JointTrajectoryAction)
                self.torso_init_srv = rospy.Service('/torso_controller/init', Trigger, self.torso_init_cb)
                self.torso_stop_srv = rospy.Service('/torso_controller/stop', Trigger, self.torso_stop_cb)
                self.torso_recover_srv = rospy.Service('/torso_controller/recover', Trigger, self.torso_recover_cb)
                self.torso_set_operation_mode_srv = rospy.Service('/torso_controller/set_operation_mode', SetOperationMode, self.torso_set_operation_mode_cb)

                #tray
                self.tray_client = actionlib.SimpleActionClient('/tray_controller/joint_trajectory_action', JointTrajectoryAction)
                self.tray_init_srv = rospy.Service('/tray_controller/init', Trigger, self.tray_init_cb)
                self.tray_stop_srv = rospy.Service('/tray_controller/stop', Trigger, self.tray_stop_cb)
                self.tray_recover_srv = rospy.Service('/tray_controller/recover', Trigger, self.tray_recover_cb)
                self.tray_set_operation_mode_srv = rospy.Service('/tray_controller/set_operation_mode', SetOperationMode, self.tray_set_operation_mode_cb)

                #arm
                self.arm_client = actionlib.SimpleActionClient('/arm_controller/joint_trajectory_action', JointTrajectoryAction)
                self.arm_init_srv = rospy.Service('/arm_controller/init', Trigger, self.arm_init_cb)
                self.arm_stop_srv = rospy.Service('/arm_controller/stop', Trigger, self.arm_stop_cb)
                self.arm_recover_srv = rospy.Service('/arm_controller/recover', Trigger, self.arm_recover_cb)
                self.arm_set_operation_mode_srv = rospy.Service('/arm_controller/set_operation_mode', SetOperationMode, self.arm_set_operation_mode_cb)

                #arm left
                self.arm_left_client = actionlib.SimpleActionClient('/arm_left_controller/joint_trajectory_action', JointTrajectoryAction)
                self.arm_left_init_srv = rospy.Service('/arm_left_controller/init', Trigger, self.arm_left_init_cb)
                self.arm_left_stop_srv = rospy.Service('/arm_left_controller/stop', Trigger, self.arm_left_stop_cb)
                self.arm_left_recover_srv = rospy.Service('/arm_left_controller/recover', Trigger, self.arm_left_recover_cb)
                self.arm_left_set_operation_mode_srv = rospy.Service('/arm_left_controller/set_operation_mode', SetOperationMode, self.arm_left_set_operation_mode_cb)
                
                #arm right
                self.arm_right_client = actionlib.SimpleActionClient('/arm_right_controller/joint_trajectory_action', JointTrajectoryAction)
                self.arm_right_init_srv = rospy.Service('/arm_right_controller/init', Trigger, self.arm_right_init_cb)
                self.arm_right_stop_srv = rospy.Service('/arm_right_controller/stop', Trigger, self.arm_right_stop_cb)
                self.arm_right_recover_srv = rospy.Service('/arm_right_controller/recover', Trigger, self.arm_right_recover_cb)
                self.arm_right_set_operation_mode_srv = rospy.Service('/arm_right_controller/set_operation_mode', SetOperationMode, self.arm_right_set_operation_mode_cb)

                #sdh
                self.sdh_client = actionlib.SimpleActionClient('/sdh_controller/joint_trajectory_action', JointTrajectoryAction)
                self.sdh_init_srv = rospy.Service('/sdh_controller/init', Trigger, self.sdh_init_cb)
                self.sdh_stop_srv = rospy.Service('/sdh_controller/stop', Trigger, self.sdh_stop_cb)
                self.sdh_recover_srv = rospy.Service('/sdh_controller/recover', Trigger, self.sdh_recover_cb)
                self.sdh_set_operation_mode_srv = rospy.Service('/sdh_controller/set_operation_mode', SetOperationMode, self.sdh_set_operation_mode_cb)
                
                #sdh left
                self.sdh_left_client = actionlib.SimpleActionClient('/sdh_left_controller/joint_trajectory_action', JointTrajectoryAction)
                self.sdh_left_init_srv = rospy.Service('/sdh_left_controller/init', Trigger, self.sdh_left_init_cb)
                self.sdh_left_stop_srv = rospy.Service('/sdh_left_controller/stop', Trigger, self.sdh_left_stop_cb)
                self.sdh_left_recover_srv = rospy.Service('/sdh_left_controller/recover', Trigger, self.sdh_left_recover_cb)
                self.sdh_left_set_operation_mode_srv = rospy.Service('/sdh_left_controller/set_operation_mode', SetOperationMode, self.sdh_left_set_operation_mode_cb)
                
                #sdh right
                self.sdh_right_client = actionlib.SimpleActionClient('/sdh_right_controller/joint_trajectory_action', JointTrajectoryAction)
                self.sdh_right_init_srv = rospy.Service('/sdh_right_controller/init', Trigger, self.sdh_right_init_cb)
                self.sdh_right_stop_srv = rospy.Service('/sdh_right_controller/stop', Trigger, self.sdh_right_stop_cb)
                self.sdh_right_recover_srv = rospy.Service('/sdh_right_controller/recover', Trigger, self.sdh_right_recover_cb)
                self.sdh_right_set_operation_mode_srv = rospy.Service('/sdh_right_controller/set_operation_mode', SetOperationMode, self.sdh_right_set_operation_mode_cb)
                
                #head
                self.head_client = actionlib.SimpleActionClient('/head_controller/joint_trajectory_action', JointTrajectoryAction)
                self.head_init_srv = rospy.Service('/head_controller/init', Trigger, self.head_init_cb)
                self.head_stop_srv = rospy.Service('/head_controller/stop', Trigger, self.head_stop_cb)
                self.head_recover_srv = rospy.Service('/head_controller/recover', Trigger, self.head_recover_cb)
                self.head_set_operation_mode_srv = rospy.Service('/head_controller/set_operation_mode', SetOperationMode, self.head_set_operation_mode_cb)

        # base
        def base_init_cb(self, req):
                resp = TriggerResponse()
                resp.success.data = True
                return resp
        
        def base_stop_cb(self, req):
                self.base_client.cancel_all_goals()
                resp = TriggerResponse()
                resp.success.data = True
                return resp

        def base_recover_cb(self, req):
                resp = TriggerResponse()
                resp.success.data = True
                return resp
        
        def base_set_operation_mode_cb(self, req):
                resp = SetOperationModeResponse()
                resp.success.data = True
                return resp

        # torso
        def torso_init_cb(self, req):
                resp = TriggerResponse()
                resp.success.data = True
                return resp
        
        def torso_stop_cb(self, req):
                self.torso_client.cancel_all_goals()
                resp = TriggerResponse()
                resp.success.data = True
                return resp

        def torso_recover_cb(self, req):
                resp = TriggerResponse()
                resp.success.data = True
                return resp
        
        def torso_set_operation_mode_cb(self, req):
                resp = SetOperationModeResponse()
                resp.success.data = True
                return resp

        #tray
        def tray_init_cb(self, req):
                resp = TriggerResponse()
                resp.success.data = True
                return resp
        
        def tray_stop_cb(self, req):
                self.tray_client.cancel_all_goals()
                resp = TriggerResponse()
                resp.success.data = True
                return resp

        def tray_recover_cb(self, req):
                resp = TriggerResponse()
                resp.success.data = True
                return resp
        
        def tray_set_operation_mode_cb(self, req):
                resp = SetOperationModeResponse()
                resp.success.data = True
                return resp

        # arm
        def arm_init_cb(self, req):
                resp = TriggerResponse()
                resp.success.data = True
                return resp
        
        def arm_stop_cb(self, req):
                self.arm_client.cancel_all_goals()
                resp = TriggerResponse()
                resp.success.data = True
                return resp

        def arm_recover_cb(self, req):
                resp = TriggerResponse()
                resp.success.data = True
                return resp
        
        def arm_set_operation_mode_cb(self, req):
                resp = SetOperationModeResponse()
                resp.success.data = True
                return resp
                
        # arm left
        def arm_left_init_cb(self, req):
                resp = TriggerResponse()
                resp.success.data = True
                return resp
        
        def arm_left_stop_cb(self, req):
                self.arm_left_client.cancel_all_goals()
                resp = TriggerResponse()
                resp.success.data = True
                return resp

        def arm_left_recover_cb(self, req):
                resp = TriggerResponse()
                resp.success.data = True
                return resp
        
        def arm_left_set_operation_mode_cb(self, req):
                resp = SetOperationModeResponse()
                resp.success.data = True
                return resp
                
        # arm right
        def arm_right_init_cb(self, req):
                resp = TriggerResponse()
                resp.success.data = True
                return resp
        
        def arm_right_stop_cb(self, req):
                self.arm_right_client.cancel_all_goals()
                resp = TriggerResponse()
                resp.success.data = True
                return resp

        def arm_right_recover_cb(self, req):
                resp = TriggerResponse()
                resp.success.data = True
                return resp
        
        def arm_right_set_operation_mode_cb(self, req):
                resp = SetOperationModeResponse()
                resp.success.data = True
                return resp

        # sdh
        def sdh_init_cb(self, req):
                resp = TriggerResponse()
                resp.success.data = True
                return resp
        
        def sdh_stop_cb(self, req):
                self.sdh_client.cancel_all_goals()
                resp = TriggerResponse()
                resp.success.data = True
                return resp

        def sdh_recover_cb(self, req):
                resp = TriggerResponse()
                resp.success.data = True
                return resp
        
        def sdh_set_operation_mode_cb(self, req):
                resp = SetOperationModeResponse()
                resp.success.data = True
                return resp
                
        # sdh left
        def sdh_left_init_cb(self, req):
                resp = TriggerResponse()
                resp.success.data = True
                return resp
        
        def sdh_left_stop_cb(self, req):
                self.sdh_left_client.cancel_all_goals()
                resp = TriggerResponse()
                resp.success.data = True
                return resp

        def sdh_left_recover_cb(self, req):
                resp = TriggerResponse()
                resp.success.data = True
                return resp
        
        def sdh_left_set_operation_mode_cb(self, req):
                resp = SetOperationModeResponse()
                resp.success.data = True
                return resp
                
        # sdh right
        def sdh_right_init_cb(self, req):
                resp = TriggerResponse()
                resp.success.data = True
                return resp
        
        def sdh_right_stop_cb(self, req):
                self.sdh_right_client.cancel_all_goals()
                resp = TriggerResponse()
                resp.success.data = True
                return resp

        def sdh_right_recover_cb(self, req):
                resp = TriggerResponse()
                resp.success.data = True
                return resp
        
        def sdh_right_set_operation_mode_cb(self, req):
                resp = SetOperationModeResponse()
                resp.success.data = True
                return resp

        # head
        def head_init_cb(self, req):
                resp = TriggerResponse()
                resp.success.data = True
                return resp
        
        def head_stop_cb(self, req):
                self.head_client.cancel_all_goals()
                resp = TriggerResponse()
                resp.success.data = True
                return resp

        def head_recover_cb(self, req):
                resp = TriggerResponse()
                resp.success.data = True
                return resp
        
        def head_set_operation_mode_cb(self, req):
                resp = SetOperationModeResponse()
                resp.success.data = True
                return resp

if __name__ == "__main__":
   rospy.init_node('gazebo_services')
   gazebo_services()
   rospy.loginfo("gazebo_services running")
   rospy.spin()

---

cob_gazebo
Author(s): Florian Weisshardt
autogenerated on Fri Jan 11 09:40:57 2013