tuck_arms_client.cpp
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00001 /*
00002  * Copyright (c) 2011, Willow Garage, Inc.
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 the 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 // author: Adam Leeper
00031 
00032 #include <pr2_wrappers/tuck_arms_client.h>
00033 
00034 namespace pr2_wrappers {
00035 
00036 TuckArmsClient::TuckArmsClient(ros::NodeHandle &nh, const ros::Duration &timeout) :
00037   nh_(nh),
00038   timeout_(timeout),  
00039   tuck_arms_action_client_("tuck_arms", true)
00040 {}
00041 
00042 TuckArmsClient::~TuckArmsClient(){
00043 }
00044 
00045 bool TuckArmsClient::tuckArms( bool tuck_right, bool tuck_left, bool wait)
00046 {
00047   std::string right_action = (tuck_right)?("tucking"):("untucking");
00048   std::string left_action =  (tuck_left)?("tucking"):("untucking");
00049   ROS_INFO_STREAM("Calling tuck arms action: " << right_action << " right arm, " << left_action << " left arm.");
00050   
00051   pr2_common_action_msgs::TuckArmsGoal goal;
00052   goal.tuck_left = tuck_left;
00053   goal.tuck_right = tuck_right;
00054   if(wait)
00055   {
00056     actionlib::SimpleClientGoalState state = tuck_arms_action_client_.sendGoalAndWait(goal, timeout_, ros::Duration(5.0));
00057     if(state.state_ != state.SUCCEEDED)
00058     { 
00059       if(! state.isDone()) ROS_WARN("Tuck arms action timed out with result %d!", state.state_);
00060       else ROS_WARN("Tuck arms action returned with result %d!", state.state_);
00061       return false;
00062     }
00063   }
00064   else
00065   {
00066     tuck_arms_action_client_.sendGoal(goal);
00067   }
00068   return true;
00069 }
00070 
00071 }


pr2_wrappers
Author(s): Adam Leeper
autogenerated on Fri Jan 3 2014 11:50:39