test_fiducial.py
Go to the documentation of this file.
00001 #!/usr/bin/env python
00002 import roslib
00003 roslib.load_manifest('turtlebot_actions')
00004 
00005 import rospy
00006 
00007 import os
00008 import sys
00009 import time
00010 
00011 from turtlebot_actions.msg import *
00012 from actionlib_msgs.msg import *
00013 
00014 
00015 import actionlib
00016 
00017 
00018 def main():
00019   rospy.init_node("find_fiducial_pose_test")
00020 
00021   # Construct action ac
00022   rospy.loginfo("Starting action client...")
00023   action_client = actionlib.SimpleActionClient('find_fiducial_pose', FindFiducialAction)
00024   action_client.wait_for_server()
00025   rospy.loginfo("Action client connected to action server.")
00026 
00027   # Call the action
00028   rospy.loginfo("Calling the action server...")
00029   action_goal = FindFiducialGoal()
00030   action_goal.camera_name = "/camera/rgb"
00031   action_goal.pattern_width = 7
00032   action_goal.pattern_height = 6
00033   action_goal.pattern_size = 0.027
00034   action_goal.pattern_type = 1 # CHESSBOARD
00035 
00036   if action_client.send_goal_and_wait(action_goal, rospy.Duration(50.0), rospy.Duration(50.0)) == GoalStatus.SUCCEEDED:
00037     rospy.loginfo('Call to action server succeeded')
00038   else:
00039     rospy.logerr('Call to action server failed')
00040 
00041 
00042 if __name__ == "__main__":
00043   main()


turtlebot_actions
Author(s): Helen Oleynikova, Melonee Wise
autogenerated on Wed Aug 26 2015 16:34:28