testAddTable.py
Go to the documentation of this file.
00001 #!/usr/bin/env python
00002 import roslib;
00003 roslib.load_manifest('srs_knowledge')
00004 import sys
00005 import rospy
00006 
00007 from srs_knowledge.srv import *
00008 from srs_knowledge.msg import *
00009 from srs_msgs.msg import *
00010 
00011 def getObjectsOnMap():
00012     print 'test get all objects from map'
00013     try:
00014         getObjects = rospy.ServiceProxy('get_objects_on_map', GetObjectsOnMap)
00015         res = getObjects('ipa-kitchen-map', True)
00016         return res
00017     except rospy.ServiceException, e:
00018         print "Service call failed: %s"%e
00019 
00020 def getWorkspaceOnMap():
00021     print 'test get all workspace (furnitures basically here) from map'
00022     try:
00023         getWorkspace = rospy.ServiceProxy('get_workspace_on_map', GetWorkspaceOnMap)
00024         res = getWorkspace('ipa-kitchen-map', True)
00025         return res
00026     except rospy.ServiceException, e:
00027         print "Service call failed: %s"%e
00028 
00029 
00030 def updatePosInfo():
00031     print 'update spatial info'
00032     try:
00033         posInfo = SRSSpatialInfo()
00034         posInfo.pose.position.x = 0.65
00035         posInfo.pose.position.y = 1.21
00036         posInfo.pose.position.z = 0.1
00037         posInfo.pose.orientation.x = 0
00038         posInfo.pose.orientation.y = 0
00039         posInfo.pose.orientation.z = 0
00040         posInfo.pose.orientation.w = 1
00041 
00042         posInfo.l = 0.9
00043         posInfo.h = 0.9
00044         posInfo.w = 0.74
00045 
00046         updatePos = rospy.ServiceProxy('update_pos_info', UpdatePosInfo)
00047         res = updatePos('Table0', 7, posInfo, 'not used')
00048         return res
00049     except rospy.ServiceException, e:
00050         print "Service call failed: %s"%e
00051 
00052 
00053 def insertObject():
00054     print 'update spatial info'
00055     try:
00056         insertObj = rospy.ServiceProxy('insert_instance', InsertInstance)
00057         res = insertObj('Table0', 'Table-PieceOfFurniture', '7', 'not used', 'not used')
00058         return res
00059     except rospy.ServiceException, e:
00060         print "Service call failed: %s"%e
00061 
00062 def insertMilkbox():
00063     print 'update spatial info'
00064     try:
00065         insertObj = rospy.ServiceProxy('insert_instance', InsertInstance)
00066         res = insertObj('MilkBox0', 'Milkbox', '9', 'not used', 'not used')
00067         return res
00068     except rospy.ServiceException, e:
00069         print "Service call failed: %s"%e
00070 
00071 if __name__ == "__main__":
00072     # print getObjectsOnMap()
00073     # print getWorkspaceOnMap()
00074     print insertObject()
00075     print updatePosInfo()
00076     print insertMilkbox()


srs_knowledge
Author(s): Ze Ji
autogenerated on Mon Oct 6 2014 08:27:32