<s> from fake_actuator import FakeActuator <EOL> import rospy <EOL> import actionlib <EOL> from std_msgs . msg import Float32 <EOL> from sensors . srv import Light , LightResponse <EOL> from sensors . msg import RotationAction , RotationFeedback , RotationResult <EOL> def volume_callback ( msg ) : <EOL> actuator . set_volume ( min ( <NUM_LIT:100> , max ( <NUM_LIT:0> , int ( msg . data * <NUM_LIT:100> ) ) ) ) <EOL> def light_callback ( request ) : <EOL> actuator . toggle_light ( request . on ) <EOL> return LightResponse ( actuator . light_on ( ) ) <EOL> def rotation_callback ( goal ) : <EOL> feedback = RotationFeedback ( ) <EOL> result = RotationResult ( ) <EOL> actuator . set_position ( goal . orientation ) <EOL> success = True <EOL> rate = rospy . Rate ( <NUM_LIT:10> ) <EOL> while fabs ( goal . orientation - actuator . position ( ) ) > <NUM_LIT> : <EOL> if a . is_preempt_requested ( ) : <EOL> success = False <EOL> break ; <EOL> feedback . current_orientation = actuator . position ( ) <EOL> a . publish_feedback ( feedback ) <EOL> rate . sleep ( ) <EOL> result . final_orientation = actuator . position ( ) <EOL> if success : <EOL> a . set_succeeded ( result ) <EOL> else : <EOL> a . set_preempted ( result ) <EOL> if __name__ == '<STR_LIT:__main__>' : <EOL> actuator = FakeActuator ( ) <EOL> rospy . init_node ( '<STR_LIT>' ) <EOL> t = rospy . Subscriber ( '<STR_LIT>' , Float32 , volume_callback ) <EOL> s = rospy . Service ( '<STR_LIT>' , Light , light_callback ) <EOL> a = actionlib . SimpleActionServer ( '<STR_LIT>' , RotationAction , <EOL> execute_cb = rotation_callback , <EOL> auto_start = False ) <EOL> a . start ( ) <EOL> rospy . spin ( ) </s>
