torso_lifter.py

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#! /usr/bin/env python
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##\author Kevin Watts
##\brief Raises torso for PR2 burn in test

HEIGHT = 0.30 # in meters

PKG = 'life_test'
import roslib; roslib.load_manifest(PKG)
import rospy
import actionlib
import random
import copy

from pr2_controllers_msgs.msg import SingleJointPositionAction, SingleJointPositionGoal



if __name__ == '__main__':
    rospy.init_node('torso_lifter_client')
    client = actionlib.SimpleActionClient('torso_controller/position_joint_action',
                                          SingleJointPositionAction)
    rospy.loginfo('Waiting for torso action client')
    client.wait_for_server()

    goal = SingleJointPositionGoal()
    goal.position = 0.25
    
    client.send_goal(goal)
    
    # Wait for result, or wait 10 seconds to allow full travel
    client.wait_for_result(rospy.Duration.from_sec(10))

    rospy.spin()