def handleGetLifeSrv(self, req):
try:
res = TriggerResponse()
res.success = True
res.message = self.lifeProxy.getState()
rospy.loginfo("current life state is " + str(res.message))
return res
except RuntimeError, e:
rospy.logerr("Exception while getting life state:\n%s", e)
return None
def left_interaction_off_cb(self, req):
resp = TriggerResponse()
if not self.left_arm_mann:
rospy.logerr('Left arm already in normal mode')
resp.success = True
else:
self.switch_req.stop_controllers = [self.mannequin_controllers[1]]
self.switch_req.start_controllers = [self.standard_controllers[1]]
res = self.switch_control(self.switch_req)
if res.ok:
self.left_arm_mann = False
self.left_int_pub.publish(False)
resp.success = True
else:
resp.success = False
resp.message = "Left arm: failed to switch interaction to OFF"
return resp
def right_interaction_on_cb(self, req):
resp = TriggerResponse()
if self.right_arm_mann:
rospy.logerr('Right arm already in interactive mode')
resp.success = True
else:
self.switch_req.stop_controllers = [self.standard_controllers[0]]
self.switch_req.start_controllers = [self.mannequin_controllers[0]]
res = self.switch_control(self.switch_req)
if res.ok:
self.right_arm_mann = True
self.right_int_pub.publish(True)
resp.success = True
else:
resp.success = False
resp.message = "Left arm: failed to switch interaction to ON"
return resp
def handle_movestatus(self, req):
res = TriggerResponse()
res.success = self.move_complete
res.message = self.move_msg
return res
def onoff_response(self, onoff):
d = TriggerResponse()
d.success = self.set_power(onoff)
d.message = "ON" if self.is_on else "OFF"
return d
def server_callback(req):
rospy.loginfo('Server callback!')
resp = TriggerResponse()
resp.success = True
resp.message = 'OK'
return resp
def trigger_response(self):
response = TriggerResponse()
response.success = True
response.message = "Testing"
return response
def stop_service_handler(self, request):
self.controller_active = False
t = TriggerResponse()
t.success=True
t.message="DRP Controller stopped"
return t
def trigger2_cb(req):
response = TriggerResponse()
response.success = True
response.message = 'well done!'
return response
def server_callback(req):
rospy.loginfo('Server callback!')
resp = TriggerResponse()
resp.success = True
resp.message = 'OK'
return resp
def onoff_response(self, onoff):
d = TriggerResponse()
d.success = self.set_power(onoff)
d.message = 'ON' if self.is_on else 'OFF'
return d
def switchSaveMap(self, req):
res = TriggerResponse()
res.success = True
res.message = "Next map will be saved"
self.saveMap = True
return res
def checkIfIdle(self, req):
res = TriggerResponse()
res.success = self.isIdle
res.message = ""
return res
def service_callback(self, request):
self.detection_dict = self.LaserReader_object.crash_detector()
response = TriggerResponse()
response.success = False
response.message = self.direction_to_move()
return response