def wrist_send_goal(self, goal): wrist_client = actionlib.SimpleActionClient('xm_move_wrist', xm_WristPositionAction) rospy.loginfo("Waiting for xm_move_wrist action server") wrist_client.wait_for_server() rospy.loginfo("Connected to xm_move_wrist action server") wrist_goal = xm_WristPositionGoal() wrist_goal.angle = goal rospy.loginfo("Preparing for sending goal to the action server") wrist_client.send_goal(wrist_goal) wrist_client.wait_for_result(rospy.Duration()) rospy.loginfo("Sending goal to the action server successfully!") result = wrist_client.get_result() print "Result:", result.complete
def wrist_action_client(): wrist_client = actionlib.SimpleActionClient('xm_move_wrist', xm_WristPositionAction) rospy.loginfo("Waiting for xm_move_wrist action server") wrist_client.wait_for_server() rospy.loginfo("Connected to xm_move_wrist action server") wrist_goal = xm_WristPositionGoal() wrist_goal.angle = 0 rospy.loginfo("Preparing for sending goal to the action server") wrist_client.send_goal(wrist_goal) wrist_client.wait_for_result(rospy.Duration(0)) rospy.loginfo("Send goal to the action server successfully!") return wrist_client.get_result()