test_ident.cpp
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00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
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00007 *  Redistribution and use in source and binary forms, with or without
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00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034 *  Author: Dula Nad
00035 *  Created: 01.02.2013.
00036 *********************************************************************/
00037 #include <ros/ros.h>
00038 #include <actionlib/client/simple_action_client.h>
00039 #include <actionlib/client/terminal_state.h>
00040 #include <navcon_msgs/DOFIdentificationAction.h>
00041 
00042 int main (int argc, char **argv)
00043 {
00044   ros::init(argc, argv, "test_ident");
00045 
00046   // create the action client
00047   // true causes the client to spin its own thread
00048   actionlib::SimpleActionClient<navcon_msgs::DOFIdentificationAction> ac("Identification", true);
00049 
00050   ROS_INFO("Waiting for action server to start.");
00051   // wait for the action server to start
00052   ac.waitForServer(); //will wait for infinite time
00053 
00054   ROS_INFO("Action server started, sending goal.");
00055   // send a goal to the action
00056   navcon_msgs::DOFIdentificationGoal goal;
00057   goal.dof = goal.Surge;
00058   goal.command = 1;
00059   goal.hysteresis = 0.5;
00060   goal.reference = 0;
00061   goal.sampling_rate = 10;
00062   ac.sendGoal(goal);
00063 
00064   //wait for the action to return
00065   bool finished_before_timeout = ac.waitForResult(ros::Duration(30.0));
00066   //ac.cancelGoal();
00067 
00068   if (finished_before_timeout)
00069   {
00070     actionlib::SimpleClientGoalState state = ac.getState();
00071     ROS_INFO("Action finished: %s",state.toString().c_str());
00072   }
00073   else
00074   {
00075     ROS_INFO("Action did not finish before the time out.");
00076   }
00077 
00078   //exit
00079   return 0;
00080 }
00081 
00082 
00083 


ident_so
Author(s): Gyula Nagy
autogenerated on Fri Aug 28 2015 11:23:43