pr2_image_snapshot_recorder: send_trigger

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00001 #! /usr/bin/env python
00002 
00003 PKG = 'pr2_image_snapshot_recorder'
00004 import roslib; roslib.load_manifest(PKG)
00005 import rospy
00006 import actionlib
00007 
00008 from pr2_image_snapshot_recorder.msg import *
00009 
00010 if __name__ == '__main__':
00011     rospy.init_node('snapshot_client')
00012     client = actionlib.SimpleActionClient('image_snapshot', ImageSnapshotAction)
00013     rospy.loginfo('Waiting for action server')
00014     client.wait_for_server()
00015     
00016 
00017     goal = ImageSnapshotGoal()
00018     goal.num_images = 5
00019     goal.topic_name = '/r_forearm_cam/image_rect'
00020     # Fill in the goal here
00021     rospy.loginfo('Sending snapshot goal')
00022     client.send_goal(goal)
00023     client.wait_for_result()
00024     rospy.loginfo('Got action response')