Merge branch 'topic/pyrene'

tests/appli_basic.py

+
+from dynamic_graph.ros import RosPublish
+ros_publish_state = RosPublish ("ros_publish_state")
+ros_publish_state.add ("vector", "state", "/sot_hpp/state")
+from dynamic_graph import plug
+plug (robot.device.state, ros_publish_state.state)
+robot.device.after.addDownsampledSignal ("ros_publish_state.trigger", 100)
+
+v=(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.00, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+robot.device.control.value=v

tests/test_basic.py

+#!/usr/bin/python
+import sys
+import rospy
+
+from std_srvs.srv import *
+from dynamic_graph_bridge.srv import *
+from dynamic_graph_bridge_msgs.srv import *
+
+def launchScript(code,title,description = ""):
+    raw_input(title+':   '+description)
+    rospy.loginfo(title)
+    rospy.loginfo(code)
+    for line in code:
+        if line != '' and line[0] != '#':
+            print line
+            answer = runCommandClient(str(line))
+            rospy.logdebug(answer)
+            print answer
+    rospy.loginfo("...done with "+title)
+
+
+# Waiting for services
+try:
+    rospy.loginfo("Waiting for run_command")
+    rospy.wait_for_service('/run_command')
+    rospy.loginfo("...ok")
+
+    rospy.loginfo("Waiting for start_dynamic_graph")
+    rospy.wait_for_service('/start_dynamic_graph')
+    rospy.loginfo("...ok")
+
+    runCommandClient = rospy.ServiceProxy('run_command', RunCommand)
+    runCommandStartDynamicGraph = rospy.ServiceProxy('start_dynamic_graph', Empty)
+
+    initCode = open( "appli_basic.py", "r").read().split("\n")
+    
+    rospy.loginfo("Stack of Tasks launched")
+
+    # runCommandClient("from dynamic_graph import plug")
+    # runCommandClient("from dynamic_graph.sot.core import SOT")
+    # runCommandClient("sot = SOT('sot')")
+    # runCommandClient("sot.setSize(robot.dynamic.getDimension())")
+    # runCommandClient("plug(sot.control,robot.device.control)")
+
+    launchScript(initCode,'initialize SoT')
+    raw_input("Wait before starting the dynamic graph")
+    runCommandStartDynamicGraph()
+
+except rospy.ServiceException, e:
+    rospy.logerr("Service call failed: %s" % e)
+