DockDriveActionClient.py

Go to the documentation of this file.

#!/usr/bin/env python

# Software License Agreement (BSD License)
#
# Copyright (c) 2012, Yujin Robot
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
#  * Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
#  * Redistributions in binary form must reproduce the above
#    copyright notice, this list of conditions and the following
#    disclaimer in the documentation and/or other materials provided
#    with the distribution.
#  * Neither the name of the Yujin Robot nor the names of its
#    contributors may be used to endorse or promote products derived
#    from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

# Author: Younghun Ju <younghoon.hju@rnd.yujinrobot.com> <yhju83@gmail.com>

import roslib; roslib.load_manifest('kobuki_auto_docking')
import rospy

import actionlib
from kobuki_msgs.msg import AutoDockingAction, AutoDockingGoal
from actionlib_msgs.msg import GoalStatus

def doneCb(status, result):
  if 0: print ''
  elif status == GoalStatus.PENDING   : state='PENDING'
  elif status == GoalStatus.ACTIVE    : state='ACTIVE'
  elif status == GoalStatus.PREEMPTED : state='PREEMPTED'
  elif status == GoalStatus.SUCCEEDED : state='SUCCEEDED'
  elif status == GoalStatus.ABORTED   : state='ABORTED'
  elif status == GoalStatus.REJECTED  : state='REJECTED'
  elif status == GoalStatus.PREEMPTING: state='PREEMPTING'
  elif status == GoalStatus.RECALLING : state='RECALLING'
  elif status == GoalStatus.RECALLED  : state='RECALLED'
  elif status == GoalStatus.LOST      : state='LOST'
  # Print state of action server
  print 'Result - [ActionServer: ' + state + ']: ' + result.text

def activeCb():
  if 0: print 'Action server went active.'

def feedbackCb(feedback):
  # Print state of dock_drive module (or node.)
  print 'Feedback: [DockDrive: ' + feedback.state + ']: ' + feedback.text

def dock_drive_client():
  # add timeout setting
  client = actionlib.SimpleActionClient('dock_drive_action', AutoDockingAction)
  while not client.wait_for_server(rospy.Duration(5.0)):
    if rospy.is_shutdown(): return
    print 'Action server is not connected yet. still waiting...'

  goal = AutoDockingGoal();
  client.send_goal(goal, doneCb, activeCb, feedbackCb)
  print 'Goal: Sent.'
  rospy.on_shutdown(client.cancel_goal)
  client.wait_for_result()

  #print '    - status:', client.get_goal_status_text()
  return client.get_result()

if __name__ == '__main__':
  try:
    rospy.init_node('dock_drive_client_py', anonymous=True)
    dock_drive_client()
    #print ''
    #print "Result: ", result
  except rospy.ROSInterruptException: 
    print "program interrupted before completion"