def execute(self, userdata):
if(self.pose == ""):
self.pose2 = userdata.base_pose_to_approach
else:
self.pose2 = self.pose
handle_base = action_cmdr.move_base(self.pose2)
while True:
rospy.sleep(0.1)
base_state = handle_base.get_state()
if (base_state == actionlib.simple_action_client.GoalStatus.SUCCEEDED):
return "succeeded"
elif (base_state == actionlib.simple_action_client.GoalStatus.ACTIVE):
continue
else:
print 'last state: ',base_state
return "failed"
def execute(self, userdata):
if (self.pose == ""):
self.pose2 = userdata.base_pose_to_approach
else:
self.pose2 = self.pose
handle_base = action_cmdr.move_base(self.pose2)
while True:
rospy.sleep(0.1)
base_state = handle_base.get_state()
if (base_state ==
actionlib.simple_action_client.GoalStatus.SUCCEEDED):
return "succeeded"
elif (base_state ==
actionlib.simple_action_client.GoalStatus.ACTIVE):
continue
else:
print 'last state: ', base_state
return "failed"
#!/usr/bin/python
import roslib
roslib.load_manifest('action_cmdr')
import rospy
import action_cmdr
action_cmdr.load(["generic_actions", "youbot_actions"])
from geometry_msgs.msg import PoseStamped
if __name__ == "__main__":
rospy.init_node(
'test'
) # needed to add this so I could make trajectory messages, require timestamp
rospy.sleep(2)
action_cmdr.move_base(target="S1", blocking=True)
action_cmdr.prepare_perception()
det_objects = action_cmdr.execute_perception(wait_time=1,
retries=10,
blocking=True)
if len(det_objects) > 0:
print("Got: %s", det_objects)
obj = det_objects[0]
ret = action_cmdr.pick_up(target=obj, blocking=True)
print("Got: %s", ret)
action_cmdr.move_base(target="D1", blocking=True)
action_cmdr.move_gripper(target="open", blocking=True)
else:
print("didn't find anything!")
#!/usr/bin/python
import roslib
roslib.load_manifest('action_cmdr')
import rospy
import action_cmdr
action_cmdr.load(["generic_actions","youbot_actions"])
from geometry_msgs.msg import PoseStamped
if __name__ == "__main__":
rospy.init_node('test') # needed to add this so I could make trajectory messages, require timestamp
rospy.sleep(2)
action_cmdr.move_base(target="S1",blocking=True)
action_cmdr.prepare_perception()
det_objects = action_cmdr.execute_perception(wait_time=1,retries=10,blocking=True)
if len(det_objects) > 0:
print("Got: %s",det_objects);
obj = det_objects[0]
ret = action_cmdr.pick_up(target=obj,blocking=True)
print("Got: %s",ret);
action_cmdr.move_base(target="D1",blocking=True)
action_cmdr.move_gripper(target="open",blocking=True)
else:
print("didn't find anything!")
#action_cmdr.test("foo")
#action_cmdr.move_gripper(target="cylopen", blocking=True)
