park_arms.cpp
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00001 /*
00002  * Copyright (c) 2010, Dejan Pangercic <pangercic@cs.tum.edu>
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include <ros/ros.h>
00031 #include <actionlib/client/simple_action_client.h>
00032 #include <actionlib/client/terminal_state.h>
00033 //#include <ias_drawer_executive/OpenContainerAction.h>
00034 //#include <ias_drawer_executive/CloseContainerAction.h>
00035 #include <ias_drawer_executive/OperateHandleController.h>
00036 // #include <ias_drawer_executive/RobotDriver.h>
00037 // #include <ias_drawer_executive/RobotArm.h>
00038 // #include <ias_drawer_executive/Torso.h>
00039 // #include <ias_drawer_executive/Perception3d.h>
00040 
00041 //for trajectory publishing
00042 //#include <visualization_msgs/MarkerArray.h>
00043 
00044 
00045 int main (int argc, char **argv)
00046 {
00047   ros::init(argc, argv, "park_arms");
00048   if (argc != 2)
00049     {
00050       ROS_ERROR("Usage %s <[l|h] (park arms l=low, h=high)>", argv[0]);
00051       exit(0);
00052     }    
00053 
00054   if (std::string(argv[1]) == "h")
00055     OperateHandleController::plateAttackPose();
00056   else if (std::string(argv[1]) == "l")
00057     OperateHandleController::plateTuckPose();
00058   else
00059     ROS_WARN("[park_arms:] Unknown option %s.", argv[1]);
00060   return 0;
00061 }
00062 
00063 
00064 /*
00065 */
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ias_drawer_executive
Author(s): Thomas Ruehr
autogenerated on Thu May 23 2013 09:44:57