import rospy
from actionlib import SimpleActionClient, GoalStatus
from play_motion_msgs.msg import PlayMotionAction, PlayMotionGoal, PlayMotionResult
PLAY_MOTION_AS = "/play_motion"
from helper_functions import goal_status_dict
def test_done_cb():
print "We got a done!"
if __name__ == '__main__':
rospy.init_node("test_donecb")
rospy.loginfo("Connecting to AS: '" + PLAY_MOTION_AS + "'")
play_motion_as = SimpleActionClient(PLAY_MOTION_AS, PlayMotionAction)
play_motion_as.wait_for_server()
rospy.loginfo("Connected.")
play_motion_as.done_cb = test_done_cb # This is never called
pm_goal = PlayMotionGoal("home", False, 0)
play_motion_as.send_goal(pm_goal)
rospy.loginfo("Sent goal.")
#play_motion_as.wait_for_result() # I thought this was necessary to actually start the goal, but it's not
done = False
while not done:
state = play_motion_as.get_state()
rospy.loginfo("State: " + str(state) + " Which is: " +
goal_status_dict[state])
if state == GoalStatus.ABORTED or state == GoalStatus.SUCCEEDED:
done = True
rospy.loginfo("Finished goal")
rospy.sleep(3)
#!/usr/bin/python
import rospy
from actionlib import SimpleActionClient, GoalStatus
from play_motion_msgs.msg import PlayMotionAction, PlayMotionGoal, PlayMotionResult
PLAY_MOTION_AS = "/play_motion"
from helper_functions import goal_status_dict
def test_done_cb():
print "We got a done!"
if __name__ == '__main__':
rospy.init_node("test_donecb")
rospy.loginfo("Connecting to AS: '" + PLAY_MOTION_AS + "'")
play_motion_as = SimpleActionClient(PLAY_MOTION_AS, PlayMotionAction)
play_motion_as.wait_for_server()
rospy.loginfo("Connected.")
play_motion_as.done_cb = test_done_cb # This is never called
pm_goal = PlayMotionGoal("home", False, 0)
play_motion_as.send_goal(pm_goal)
rospy.loginfo("Sent goal.")
#play_motion_as.wait_for_result() # I thought this was necessary to actually start the goal, but it's not
done = False
while not done:
state = play_motion_as.get_state()
rospy.loginfo("State: " + str(state) + " Which is: " + goal_status_dict[state])
if state == GoalStatus.ABORTED or state == GoalStatus.SUCCEEDED:
done = True
rospy.loginfo("Finished goal")
rospy.sleep(3)
