behaviors.py

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import roslib; roslib.load_manifest('rcommander_interface')
import actionlib
import rospy
from rcommander_web.msg import RunScriptAction, RunScriptGoal

BEHAVIOR_PATH = '/u/lazewatskyd/robot_behaviors'
import os

class Behaviors:
        def __init__(self):
                ns = '/run_rcommander_action_web'
                self.action_client = actionlib.SimpleActionClient(ns, RunScriptAction)
                self.action_client.wait_for_server()
                self.rocker_on_goal  = RunScriptGoal(os.path.join(BEHAVIOR_PATH, 'Behaviors/rcommander_behaviors/rocker_switch/rocker_on'))
                self.rocker_off_goal = RunScriptGoal(os.path.join(BEHAVIOR_PATH, 'Behaviors/rcommander_behaviors/rocker_switch/rocker_off'))

        def rocker_on(self, wait=True):
                self.action_client.send_goal(self.rocker_on_goal)
                if wait:
                        return self.action_client.wait_for_result()

        def rocker_off(self, wait=True):
                self.action_client.send_goal(self.rocker_off_goal)
                if wait:
                        return self.action_client.wait_for_result()


# if __name__ == '__main__':
#       rospy.init_node('action_test')
#       b = Behaviors()
#       while not rospy.is_shutdown():
#               b.rocker_on()
#               b.rocker_off()