pr2_gripper_action_test.py
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00001 #!/usr/bin/env python
00002 #
00003 # Test for the rosie_pr2_gripper_action
00004 #
00005 # Copyright (c) 2010 Alexis Maldonado <maldonado@tum.de>
00006 # Technische Universitaet Muenchen
00007 #
00008 # This program is free software: you can redistribute it and/or modify
00009 # it under the terms of the GNU General Public License as published by
00010 # the Free Software Foundation, either version 3 of the License, or
00011 # (at your option) any later version.
00012 #
00013 # This program is distributed in the hope that it will be useful,
00014 # but WITHOUT ANY WARRANTY; without even the implied warranty of
00015 # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00016 # GNU General Public License for more details.
00017 #
00018 # You should have received a copy of the GNU General Public License
00019 # along with this program.  If not, see <http://www.gnu.org/licenses/>.
00020 
00021 import roslib; roslib.load_manifest('rosie_pr2_gripper_action')
00022 import rospy
00023 
00024 from actionlib_msgs.msg import *
00025 from pr2_controllers_msgs.msg import *
00026 import actionlib
00027 
00028 
00029 def gripper_command(client, position):
00030     goal = Pr2GripperCommandGoal()
00031     goal.command.position = position
00032     goal.command.max_effort = 0.5
00033     client.send_goal(goal)
00034     client.wait_for_result(rospy.Duration(20.0))  #Wait up to 20s for the server
00035         
00036 def main():
00037     rospy.loginfo("test_pr2_gripper_action: Starting up!")
00038     rospy.init_node('test_pr2_gripper_action')
00039 
00040     
00041     l_client = actionlib.SimpleActionClient('/l_gripper_controller/gripper_action', Pr2GripperCommandAction)
00042     r_client = actionlib.SimpleActionClient('/r_gripper_controller/gripper_action', Pr2GripperCommandAction)
00043 
00044     l_client.wait_for_server(rospy.Duration(20.0))
00045     r_client.wait_for_server(rospy.Duration(20.0))
00046 
00047     print("Left hand:")
00048     print("Closing the fingers.")
00049     gripper_command(l_client, 0.0)
00050     print("Opening the fingers.")
00051     gripper_command(l_client, 0.08)
00052 
00053     print("Right hand:")
00054     print("Closing the fingers.")
00055     gripper_command(r_client, 0.0)
00056     print("Opening the fingers.")
00057     gripper_command(r_client, 0.08)
00058     
00059     
00060 if __name__ == '__main__':
00061     main()


rosie_pr2_gripper_action
Author(s): Alexis Maldonado
autogenerated on Mon Oct 6 2014 09:02:25