ref_simple_server.py

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#!/usr/bin/env python
# Copyright (c) 2009, Willow Garage, Inc.
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# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
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#       notice, this list of conditions and the following disclaimer.
#     * Redistributions in binary form must reproduce the above copyright
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#       documentation and/or other materials provided with the distribution.
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#       this software without specific prior written permission.
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# POSSIBILITY OF SUCH DAMAGE.
 
# Author: Alexander Sorokin.
# Based on code from ref_server.cpp by Vijay Pradeep
PKG = 'actionlib'
import rospy
 
from actionlib.simple_action_server import SimpleActionServer
from actionlib.msg import TestAction, TestFeedback
 
 
class RefSimpleServer (SimpleActionServer):
 
    def __init__(self, name):
        action_spec = TestAction
        SimpleActionServer.__init__(
            self, name, action_spec, self.goal_callback, False)
        self.start()
        rospy.loginfo("Creating SimpleActionServer [%s]\n", name)
 
    def goal_callback(self, goal):
        rospy.loginfo("Got goal %d", int(goal.goal))
        if goal.goal == 1:
            self.set_succeeded(None, "The ref server has succeeded")
        elif goal.goal == 2:
            self.set_aborted(None, "The ref server has aborted")
        elif goal.goal == 3:
            self.set_aborted(None, "The simple action server can't reject goals")
        elif goal.goal == 4:
            self.set_aborted(None, "Simple server can't save goals")
        elif goal.goal == 5:
            self.set_aborted(None, "Simple server can't save goals")
        elif goal.goal == 6:
            self.set_aborted(None, "Simple server can't save goals")
        elif goal.goal == 7:
            self.set_aborted(None, "Simple server can't save goals")
        elif goal.goal == 8:
            self.set_aborted(None, "Simple server can't save goals")
        elif goal.goal == 9:
            rospy.sleep(1)
            rospy.loginfo("Sending feedback")
            self.publish_feedback(TestFeedback(9))  # by the goal ID
            rospy.sleep(1)
            self.set_succeeded(None, "The ref server has succeeded")
        else:
            pass
 
 
if __name__ == "__main__":
    rospy.init_node("ref_simple_server")
    ref_server = RefSimpleServer("reference_simple_action")
 
    rospy.spin()