trigger_doors_actions.cpp

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/* Author: Wim Meeussen */

#include "pr2_doors_actions/action_detect_door.h"
#include <pr2_doors_common/door_functions.h>
#include <actionlib/client/simple_action_client.h>
#include <door_msgs/DoorAction.h>
#include <ros/ros.h>

using namespace ros;
using namespace std;
using namespace door_handle_detector;
using namespace pr2_doors_common;

// -----------------------------------
//              MAIN
// -----------------------------------

int
  main (int argc, char **argv)
{
  ros::init(argc, argv, "trigger_door_action");

  if (argc < 2){
    ROS_ERROR("Name of action to trigger required");
    return 0;
  }

  // goal
  door_msgs::DoorGoal door_goal;
  door_goal.door.frame_p1.x = 1.0;
  door_goal.door.frame_p1.y = -0.5;
  door_goal.door.frame_p2.x = 1.0;
  door_goal.door.frame_p2.y = 0.5;
  door_goal.door.rot_dir = door_msgs::Door::ROT_DIR_COUNTERCLOCKWISE;
  door_goal.door.hinge = door_msgs::Door::HINGE_P2;
  door_goal.door.header.frame_id = "base_footprint";

  // create action client
  actionlib::SimpleActionClient<door_msgs::DoorAction> action_client(argv[1], true);
  cout << "waiting for action server to start..." << endl;
  boost::thread(boost::bind(&ros::spin));
  action_client.waitForServer();
  cout << "... started" << endl;

  // call action server from action client
  action_client.sendGoalAndWait(door_goal);
  bool finished_before_timeout = action_client.waitForResult(ros::Duration(30.0));

  if (finished_before_timeout){
    actionlib::SimpleClientGoalState state = action_client.getState();
    cout << "Door detection finished with state " << state.toString() << endl;
    cout << " resulting door: " << action_client.getResult()->door << endl;
  }
  else{
    cout << "Door detection timed out" << endl;
  }

  return (0);
}