您最多选择25个主题
主题必须以中文或者字母或数字开头，可以包含连字符 (-)，并且长度不得超过35个字符
32 行
814 B
32 行
814 B
#!/usr/bin/env python
|
|
|
|
from __future__ import print_function
|
|
|
|
import random
|
|
import rospy
|
|
import sys
|
|
|
|
from robotics_demo.srv import ObjectPoseService, ObjectPoseServiceResponse
|
|
|
|
|
|
def get_object_pose_client(name):
|
|
rospy.wait_for_service('obj_pose_srv')
|
|
try:
|
|
get_obj_pose = rospy.ServiceProxy('obj_pose_srv', ObjectPoseService)
|
|
obj_pose_resp = get_obj_pose(name)
|
|
return obj_pose_resp.object_pose
|
|
except rospy.ServiceException as e:
|
|
print("Service call failed: %s"%e)
|
|
|
|
|
|
def usage():
|
|
return "%s [object_name]"%sys.argv[0]
|
|
|
|
if __name__ == "__main__":
|
|
if len(sys.argv) == 2:
|
|
name = str(sys.argv[1])
|
|
else:
|
|
print(usage())
|
|
sys.exit(1)
|
|
print("Requesting pose for %s"%(name))
|
|
print("Pose for %s: %s"%(name, get_object_pose_client(name)))
|