test_putdown_pose_service.py

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#! /usr/bin/env python

import roslib; roslib.load_manifest('tidyup_arm_services')
import rospy
import sys, traceback
from tidyup_msgs import msg
from tidyup_msgs import srv
from tidyup_arm_services.simple_arm_tasks import SimpleArmTasks
from tidyup_arm_services.planning_scene_sync import PlanningSceneSync

if __name__ == '__main__':
  try:
    rospy.init_node('test_putdown_service')#, anonymous=True)
    pss = PlanningSceneSync()
#    if len(sys.argv) != 4:
#      print 'usage: test_putdown_pose_service <object> <arm> <support_surface>'
#    arm_tasks = SimpleArmTasks()
#    
#    # TEST
#    rospy.loginfo('starting test.')
#    request = srv.GetPutdownPoseRequest()
#    request.putdown_object = sys.argv[1]
#    request.arm = sys.argv[2]
#    request.static_object = sys.argv[3]
#    
#    serviceProxy = rospy.ServiceProxy('/tidyup/request_putdown_pose', srv.GetPutdownPose)
#    serviceProxy.wait_for_service()
#    rospy.loginfo('found service putdown service: {0}.'.format(serviceProxy.resolved_name))
#    
#    response = serviceProxy.call(request)
#    rospy.loginfo('response: {0}'.format(response))
    rospy.loginfo('done.')
    rospy.spin()
    
  except:
    traceback.print_exc(file=sys.stdout)