Issue with creating action client
Hello, since i am writing the action client to send the goal to action server, but my robot in rviz does not move and even i am able see the data transfer to respective topic (goal topic).
My Code#
import actionlib
from actionlib import SimpleActionClient
from actionlib_msgs.msg import *
from actionlib.msg import *
from cartesian_interface.msg import ReachPoseAction, ReachPoseGoal
from geometry_msgs.msg import Pose
def feedback_cb(msg):
print 'feedback recieved:', msg
def call_server():
client = actionlib.SimpleActionClient('/cartesian/panda_right_mount_link/reach', ReachPoseAction)
client.wait_for_server()
pose1 = Pose()
pose1.position.x = 0.9
pose1.position.y = 0.9
pose1.position.z = 0.9
pose1.orientation.x = 0.0
pose1.orientation.y = 0.0
pose1.orientation.z = 0.0
pose1.orientation.w = 1.0
#pose2 = Pose()
#pose2.position.x = 0.3
#pose2.position.y = 0.3
#pose2.position.z = 0.3
#pose2.orientation.x = 0.0
#pose2.orientation.y = 0.0
#pose2.orientation.z = 0.0
#pose2.orientation.w = 1.0
goal = ReachPoseGoal()
goal.frames.append(pose1)
#goal.frames.append(pose2)
client.send_goal(goal, feedback_cb=feedback_cb)
client.wait_for_result()
result = client.get_result()
return result
if __name__ == '__main__':
try:
rospy.init_node('move_panda')
result = call_server()
print 'The result is:', result
except rospy.ROSInterruptException as e:
print 'something went wrong:', e
The Goal Messages are;
geometry_msgs/Pose[] frames
float32[] time
bool incremental
I do not know where i am making the errors. I am defining the position and orientation in array and then append it (i want to do push_back as in C++) but seeing no result. I will be thankful to you, if someone can help me.
Thank You