def DM_client(json_parameters): client = actionlib.SimpleActionClient('srs_decision_making_actions', xmsg.ExecutionAction) client.wait_for_server() # Creates a goal to send to the action server. _goal=xmsg.ExecutionGoal() #_goal.action="move" #_goal.parameter=target_pos #_goal.priority=0 _goal.json_parameters = json_parameters # Sends the goal to the action server. client.send_goal(_goal) # Waits for the server to finish performing the action. client.wait_for_result() # Prints out the result of executing the action return client.get_result()
def DM_client(target_pos): # Creates the SimpleActionClient, passing the type of the action # constructor. client = actionlib.SimpleActionClient('srs_decision_making_actions', xmsg.ExecutionAction) # Waits until the action server has started up and started # listening for goals. client.wait_for_server() # Creates a goal to send to the action server. _goal=xmsg.ExecutionGoal() _goal.action="move" _goal.parameter=target_pos _goal.priority=0 # Sends the goal to the action server. client.send_goal(_goal) # Waits for the server to finish performing the action. client.wait_for_result() # Prints out the result of executing the action return client.get_result()
move_milk = rospy.ServiceProxy("/gazebo/set_model_state", SetModelState) move_milk(modelstate) except rospy.ServiceException, e: error_message = "%s"%e rospy.logerr("have you put the milk into the simulation?") #setmodelstate = gazebo #setmodelstate.request.model_state = modelstate handle_tray = sss.move("tray", "down", False) handle_tray.wait() _goal=xmsg.ExecutionGoal() _goal.action="move" _goal.parameter="[0.5 -1.6 1.57]" _goal.priority=0 client.send_goal(_goal) client.wait_for_result() sss.say(["back to charging station, I am ready for new tasks"],False) return client.get_result() if __name__ == '__main__': try:
def DM_client(): # Creates the SimpleActionClient, passing the type of the action # constructor. client = actionlib.SimpleActionClient('srs_decision_making_actions', xmsg.ExecutionAction) # Waits until the action server has started up and started # listening for goals. client.wait_for_server() # creates action sequence for the action server # Creates a goal to send to the action server. _goal = xmsg.ExecutionGoal() _goal.action = "move" _goal.parameter = "[0.5 -1.6 1.57]" _goal.priority = 0 client.send_goal(_goal) client.wait_for_result() print("ready to start") sss.wait_for_input() _goal.action = "get" # msg imports _goal.parameter = "milk" _goal.priority = 0 client.send_goal(_goal) client.wait_for_result() print("milk ready") sss.wait_for_input() _goal.action = "move" _goal.parameter = "[1.47 -0.7 0.75]" _goal.priority = 0 client.send_goal(_goal) client.wait_for_result() print("milk delivered") sss.say(["Here is your milk, Please help yourself."], False) sss.wait_for_input() start_pose = Pose() start_pose.position.x = -3.0 start_pose.position.y = -0.2 start_pose.position.z = 1.02 start_pose.orientation.x = 0.0 start_pose.orientation.y = 0.0 start_pose.orientation.z = 0.0 start_pose.orientation.w = 0.0 start_twist = Twist() start_twist.linear.x = 0.0 start_twist.linear.y = 0.0 start_twist.linear.z = 0.0 start_twist.angular.x = 0.0 start_twist.angular.y = 0.0 start_twist.angular.z = 0.0 modelstate = gazebo.ModelState modelstate.model_name = "milk_box" modelstate.reference_frame = "world" modelstate.pose = start_pose modelstate.twist = start_twist move_milk = rospy.ServiceProxy("/gazebo/set_model_state", SetModelState) #setmodelstate = gazebo #setmodelstate.request.model_state = modelstate move_milk(modelstate) print("confirm milk has been taken") sss.wait_for_input() client.wait_for_result() handle_tray = sss.move("tray", "down", False) handle_tray.wait() _goal.action = "move" _goal.parameter = "[1 -1.6 1.57]" _goal.priority = 0 client.send_goal(_goal) #client.wait_for_result() print("back to charge") return client.get_result()