tidyup_arm_services: test_tidyup_arm

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00001 #! /usr/bin/env python
00002 
00003 import roslib; roslib.load_manifest('tidyup_arm_services')
00004 import rospy
00005 import sys, traceback
00006 from tidyup_msgs import msg
00007 from tidyup_arm_services.simple_arm_tasks import SimpleArmTasks
00008 
00009 if __name__ == '__main__':
00010   try:
00011     rospy.init_node('simple_arm_tasks')
00012     arm_tasks = SimpleArmTasks()
00013     
00014     # TEST
00015     rospy.loginfo('starting test.')
00016     carry_request = msg.PostGraspPositionGoal()
00017     carry_request.right_arm = True
00018     arm_tasks._to_carry_execute(carry_request)
00019     carry_request.right_arm = False
00020     carry_request.left_arm = True
00021     arm_tasks._to_carry_execute(carry_request)
00022     side_request = msg.ArmToSideGoal()
00023     side_request.right_arm = True
00024     arm_tasks._to_side_execute(side_request)
00025     side_request.right_arm = False
00026     side_request.left_arm = True
00027     arm_tasks._to_side_execute(side_request)
00028   except:
00029     traceback.print_exc(file=sys.stdout)