outlet_server.py
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00001 #! /usr/bin/python
00002 #***********************************************************
00003 #* Software License Agreement (BSD License)
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00005 #*  Copyright (c) 2009, Willow Garage, Inc.
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00022 #*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 #* Author: Eitan Marder-Eppstein
00036 #***********************************************************
00037 
00038 PKG = 'pr2_plugs_actions'
00039 
00040 import roslib; roslib.load_manifest(PKG)
00041 import roslib.message
00042 import rospy
00043 import yaml
00044 
00045 from pr2_plugs_msgs.srv import GetOutlets, GetOutletsRequest, GetOutletsResponse
00046 from pr2_plugs_msgs.msg import OutletPose
00047 
00048 def serve_plug_locations(req):
00049   rospy.loginfo("Serving plug locations")
00050   try:
00051     poses = rospy.get_param('outlet_approach_poses')
00052   except:
00053     print 'no poses'
00054     poses = {}
00055   if not 'local' in poses:
00056     poses['local'] = {'position':[0,0,0], 'orientation': [0,0,0,0]}
00057   #print poses
00058 
00059   resp = GetOutletsResponse()
00060   for pose in poses:
00061     op = OutletPose()
00062     op.name = pose
00063     roslib.message.fill_message_args(op.approach_pose, poses[pose])
00064     resp.poses.append(op)
00065   #print resp
00066 
00067   return resp
00068 
00069 if __name__ == "__main__":
00070   rospy.init_node("outlet_server")
00071   s = rospy.Service("outlet_locations", GetOutlets, serve_plug_locations) 
00072   rospy.spin()


pr2_plugs_actions
Author(s): Jon Bohren, Patrick Mihelich, Wim Meeussen, and Melonee Wise
autogenerated on Thu Nov 28 2013 11:47:13