00001
00002
00003 PKG = 'pr2_image_snapshot_recorder'
00004 import roslib; roslib.load_manifest(PKG)
00005 import rospy
00006 import actionlib
00007
00008 from pr2_image_snapshot_recorder.msg import *
00009
00010 if __name__ == '__main__':
00011 rospy.init_node('snapshot_client')
00012 client = actionlib.SimpleActionClient('image_snapshot', ImageSnapshotAction)
00013 rospy.loginfo('Waiting for action server')
00014 client.wait_for_server()
00015
00016
00017 goal = ImageSnapshotGoal()
00018 goal.num_images = 5
00019 goal.topic_name = '/r_forearm_cam/image_rect'
00020
00021 rospy.loginfo('Sending snapshot goal')
00022 client.send_goal(goal)
00023 client.wait_for_result()
00024 rospy.loginfo('Got action response')