detect_plug_test.py

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#!/usr/bin/env python
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import roslib
roslib.load_manifest('pr2_plugs_actions')

import rospy

import os
import sys
import time

from pr2_plugs_msgs.msg import *
from actionlib_msgs.msg import *
from pr2_common_action_msgs.msg import *
from std_srvs.srv import *

import actionlib


def main():
  rospy.init_node("detect_plug_test")

  # Construct action ac
  rospy.loginfo("Starting action client...")
  action_client = actionlib.SimpleActionClient('detect_plug', DetectPlugInGripperAction)
  action_client.wait_for_server()
  rospy.loginfo("Action client connected to action server.")

  # Call the action
  rospy.loginfo("Calling the action server...")
  action_goal = DetectPlugInGripperGoal()
  if action_client.send_goal_and_wait(action_goal, rospy.Duration(60.0), rospy.Duration(5.0)) == GoalStatus.SUCCEEDED:
    rospy.loginfo('Call to action server succeeded')
  else:
    rospy.logerr('Call to action server failed')


if __name__ == "__main__":
  main()