nao_viz: posture.py Source File

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00033 
00034 import actionlib
00035 import rospy
00036 
00037 from python_qt_binding.QtGui import QComboBox, QMessageBox
00038 from naoqi_bridge_msgs.msg import BodyPoseWithSpeedAction, BodyPoseWithSpeedGoal
00039 
00040 class PostureWidget(QComboBox):
00041     def __init__(self, topic_prefix):
00042         super(PostureWidget, self).__init__()
00043         self.setSizeAdjustPolicy(QComboBox.AdjustToContents)
00044         self.setInsertPolicy(QComboBox.InsertAlphabetically)
00045         self.setEditable(True)
00046 
00047         if topic_prefix == "nao_robot":
00048             posture_list = ["---", "Crouch", "LyingBack", "LyingBelly", "Sit", "SitOnChair", "SitRelax", "Stand", "StandInit", "StandZero"]
00049         elif topic_prefix == "pepper_robot":
00050             posture_list = [ "---", "Crouch", "Stand", "StandInit", "StandZero" ]
00051 
00052         self.addItems( posture_list )
00053         self.currentIndexChanged.connect( self.apply_posture )
00054 
00055         self.bodyPoseClient = actionlib.SimpleActionClient(str(topic_prefix)+'/pose/body_pose_naoqi', BodyPoseWithSpeedAction)
00056 
00057     def apply_posture(self):
00058         posture = self.currentText()
00059         rospy.loginfo("go to posture: "+ str(posture))
00060         self.bodyPoseClient.send_goal_and_wait(BodyPoseWithSpeedGoal(posture_name = posture, speed=0.7))
00061         state = self.bodyPoseClient.get_state()
00062         if not state == actionlib.GoalStatus.SUCCEEDED:
00063             QMessageBox(self, 'Error', str(posture)+' posture did not succeed: %s - cannot remove stiffness' % self.bodyPoseClient.get_goal_status_text())
00064             rospy.logerror("crouch pose did not succeed: %s", self.bodyPoseClient.get_goal_status_text())