Needybot Choreography

Actionlib package for animating Needy's mobile base

Quick Start

Download the package to your catkin workspace and run catkin_make

$ cd ~/catkin_ws
$ git clone https://github.com/needybot/needybot-choreography.git
$ catkin_make

Add the animator node to your launch file

<node pkg="needybot_choreography" type="animator.py" name="animator" output="screen"/>

In your code, give Needybot an animation goal

import actionlib
from needybot_msgs.msg import AnimatorGoal

self.goal = AnimatorGoal(animation=AnimatorGoal.SPIN)
self.client = actionlib.SimpleActionClient('animator', AnimatorAction)
self.client.wait_for_server()
self.client.send_goal(self.goal)
self.client.wait_for_result()
# Do something when animation is completed

Thats it!