def fk_service_client(limb = "right"):
    ns = "ExternalTools/" + limb + "/PositionKinematicsNode/FKService"
    fksvc = rospy.ServiceProxy(ns, SolvePositionFK)
    fkreq = SolvePositionFKRequest()
    joints = JointState()
    joints.name = ['right_j0', 'right_j1', 'right_j2', 'right_j3',
                   'right_j4', 'right_j5', 'right_j6']
    joints.position = [0.763331, 0.415979, -1.728629, 1.482985,
                       -1.135621, -1.674347, -0.496337]
    # Add desired pose for forward kinematics
    fkreq.configuration.append(joints)
    # Request forward kinematics from base to "right_hand" link
    fkreq.tip_names.append('right_hand')

    try:
        rospy.wait_for_service(ns, 5.0)
        resp = fksvc(fkreq)
    except (rospy.ServiceException, rospy.ROSException), e:
        rospy.logerr("Service call failed: %s" % (e,))
        return False

    # Check if result valid 

def get_endeffector_pos(self):
        fkreq = SolvePositionFKRequest()
        joints = JointState()
        joints.name = self._limb_right.joint_names()
        joints.position = [self._limb_right.joint_angle(j)
                           for j in joints.name]

        # Add desired pose for forward kinematics
        fkreq.configuration.append(joints)
        fkreq.tip_names.append('right_hand')
        try:
            rospy.wait_for_service(self.name_of_service, 5)
            resp = self.fksvc(fkreq)
        except (rospy.ServiceException, rospy.ROSException), e:
            rospy.logerr("Service call failed: %s" % (e,))
            return False 

def fk_request(self, joint_angles,
                   end_point='right_hand'):
        """
        Forward Kinematics request sent to FK Service

        @type joint_angles: dict({str:float})
        @param joint_angles: the arm's joint positions
        @type end_point: string
        @param end_point: name of the end point (should be in URDF)
        @return: Forward Kinematics response from FK service
        """
        fkreq = SolvePositionFKRequest()
        # Add desired pose for forward kinematics
        joints = JointState()
        joints.name = joint_angles.keys()
        joints.position = joint_angles.values()
        fkreq.configuration.append(joints)
        # Request forward kinematics from base to end_point
        fkreq.tip_names.append(end_point)
        try:
            resp = self._fksvc(fkreq)
        except (rospy.ServiceException, rospy.ROSException), e:
            rospy.logerr("FK Service call failed: %s" % (e,))
            return False 

def get_object_relative_pose(self, obj_type="SQUARE", obj_color="BLUE", ret_image=True):
        service_name = self.__services_name['object_pose_service']
        rospy.wait_for_service(service_name)

        try:
            detection_service = rospy.ServiceProxy(service_name, ObjDetection)
            response = detection_service(obj_type=obj_type, obj_color=obj_color,
                                         workspace_ratio=25. / 16, ret_image=ret_image)
            ret_status = self.__status_interpreter_obj_detection[response.status]
            if ret_status != "SUCCESSFUL":
                print "Object not detected: " + ret_status

            msg_res = response.obj_pose
            obj_type = response.obj_type
            obj_color = response.obj_color

            if ret_image:
                im_ret = extract_img_from_ros_msg(response.img)
            else:
                im_ret = None
            return ret_status, msg_res, obj_type, obj_color, im_ret

        except rospy.ServiceException, e:
            print "Service call failed: %s" % e 

def call_service(self, req):
        """Calling the appropriate service depending on the given request type.
        Requests have to inherit from 'HMMRepRequestAbstractclass'.

        :param req: The request class instance for the request you want to make

        :return: The qsr_type and resulting data tuple. The data is in the data type produced by the response.
        """
        assert(issubclass(req.__class__, RepRequestAbstractclass))
        s = rospy.ServiceProxy(self.services[req.__class__],QSRProbRep)
        try:
            s.wait_for_service(timeout=10.)
            res = s(QSRProbRepRequest(data=json.dumps(req.kwargs)))
        except (rospy.ROSException, rospy.ROSInterruptException, rospy.ServiceException) as e:
            rospy.logerr(e)
            return None
        try:
            data = json.loads(res.data)
        except ValueError:
            data = str(res.data)
        return data 

def __init__(self, configs):
        self.configs = configs
        self.ROT_VEL = self.configs.BASE.MAX_ABS_TURN_SPEED
        self.LIN_VEL = self.configs.BASE.MAX_ABS_FWD_SPEED
        self.MAP_FRAME = self.configs.BASE.MAP_FRAME
        self.BASE_FRAME = self.configs.BASE.VSLAM.VSLAM_BASE_FRAME
        self.point_idx = self.configs.BASE.TRACKED_POINT

        rospy.wait_for_service(self.configs.BASE.PLAN_TOPIC, timeout=3)
        try:
            self.plan_srv = rospy.ServiceProxy(self.configs.BASE.PLAN_TOPIC, GetPlan)
        except rospy.ServiceException:
            rospy.logerr(
                "Timed out waiting for the planning service. \
                    Make sure build_map in script and \
                           use_map in roslauch are set to the same value"
            )
        self.start_state = build_pose_msg(0, 0, 0, self.BASE_FRAME)
        self.tolerance = self.configs.BASE.PLAN_TOL
        self._transform_listener = tf.TransformListener() 

def RequestDMP(u,dt,k_gain,d_gain,num_basis_functions):

    ndims = len(u[0])
    k_gains = [k_gain]*ndims
    d_gains = [d_gain]*ndims
    
    ex = DMPTraj()
    
    for i in range(len(u)):
        pt = DMPPoint()
        pt.positions = u[i] # always sends positions regardless of actual content
        ex.points.append(pt)
        ex.times.append(dt * i) # make sure times are reasonable

    rospy.wait_for_service('learn_dmp_from_demo')

    try:
        lfd = rospy.ServiceProxy('learn_dmp_from_demo', LearnDMPFromDemo)
        resp = lfd(ex, k_gains, d_gains, num_basis_functions)
    except rospy.ServiceException, e:
        print "Service call failed: %s"%e 

def _arm(self):
        print(self.namespace, 'arming')
        service_name = '%s/mavros/cmd/arming' % self.namespace
        rospy.wait_for_service(service_name)
        try:
            service = rospy.ServiceProxy(service_name, CommandBool)
            resp = service(True)
        except rospy.ServiceException as e:
            print(self.namespace, 'service call to arm failed:', str(e),
                  file=sys.stderr)
            return False
        if not resp.success:
            print(self.namespace, 'failed to arm', file=sys.stderr)
            return False
        print(self.namespace, 'armed')
        return True 

def _return_home(self):
        print(self.namespace, 'land')
        req = CommandTOLRequest()
        req.min_pitch = 0.0
        req.yaw = -math.pi if self.color == 'blue' else 0.0
        req.latitude = self.start_position.latitude
        req.longitude = self.start_position.longitude
        req.altitude = self.start_position.altitude

        service_name = '%s/mavros/cmd/land' % self.namespace
        rospy.wait_for_service(service_name)
        try:
            service = rospy.ServiceProxy(service_name, CommandTOL)
            resp = service.call(req)
        except rospy.ServiceException as e:
            print(self.namespace, 'service call to land failed:', str(e),
                  file=sys.stderr)
            return False
        if not resp.success:
            print(self.namespace, 'failed to land', file=sys.stderr)
            return False
        print(self.namespace, 'landing')
        self._set_state(STATE_LANDING)
        return True 

def manage_controller(controller_name, port_namespace, controller_type, command, deps, start, stop, restart):
    try:
        controller = rospy.get_param(controller_name + '/controller')
        package_path = controller['package']
        module_name = controller['module']
        class_name = controller['type']
    except KeyError as ke:
        rospy.logerr('[%s] configuration error: could not find controller parameters on parameter server' % controller_name)
        sys.exit(1)
    except Exception as e:
        rospy.logerr('[%s]: %s' % (controller_name, e))
        sys.exit(1)
        
    if command.lower() == 'start':
        try:
            response = start(port_namespace, package_path, module_name, class_name, controller_name, deps)
            if response.success: rospy.loginfo(response.reason)
            else: rospy.logerr(response.reason)
        except rospy.ServiceException, e:
            rospy.logerr('Service call failed: %s' % e) 

def _connect_to_sensor(self):
        """Connect to the sensor.
        """
        name = self._device_name
        try:
            # Check if device is actively in list
            rospy.wait_for_service('phoxi_camera/get_device_list')
            device_list = rospy.ServiceProxy('phoxi_camera/get_device_list', GetDeviceList)().out
            if not str(name) in device_list:
                logging.error('PhoXi sensor {} not in list of active devices'.format(name))
                return False

            success = rospy.ServiceProxy('phoxi_camera/connect_camera', ConnectCamera)(name).success
            if not success:
                logging.error('Could not connect to PhoXi sensor {}'.format(name))
                return False

            logging.debug('Connected to PhoXi Sensor {}'.format(name))
            return True

        except rospy.ServiceException as e:
            logging.error('Service call failed: {}'.format(e))
            return False 

def on_button_reset_pressed(self):
    self._num_pattern_detections = 0
    self._calibration_output = ""
    self._update_required = True

    self.button_start.setEnabled( False )

    try:
      rospy.wait_for_service('dvs_calibration/reset', 1)
      try:
        reset_service = rospy.ServiceProxy('dvs_calibration/reset', Empty)
        resp = reset_service()
      except rospy.ServiceException, e:
        print "Service call failed: %s"%e
    except:
      print "service not available..."
      pass 

def reset(self):
        rospy.wait_for_service('gazebo/reset_simulation')
        try:
            self.reset_proxy()
        except (rospy.ServiceException) as e:
            print("gazebo/reset_simulation service call failed")

        data = None
        while data is None:
            try:
                data = rospy.wait_for_message('scan', LaserScan, timeout=5)
            except:
                pass

        if self.initGoal:
            self.goal_x, self.goal_y = self.respawn_goal.getPosition()
            self.initGoal = False

        self.goal_distance = self.getGoalDistace()
        state, done = self.getState(data)

        return np.asarray(state) 

def reset(self):
        rospy.wait_for_service('gazebo/reset_simulation')
        try:
            self.reset_proxy()
        except (rospy.ServiceException) as e:
            print("gazebo/reset_simulation service call failed")

        data = None
        while data is None:
            try:
                data = rospy.wait_for_message('scan', LaserScan, timeout=5)
            except:
                pass

        if self.initGoal:
            self.goal_x, self.goal_y = self.respawn_goal.getPosition()
            self.initGoal = False

        self.goal_distance = self.getGoalDistace()
        state, done = self.getState(data)

        return np.asarray(state) 

def reset(self):
        rospy.wait_for_service('gazebo/reset_simulation')
        try:
            self.reset_proxy()
        except (rospy.ServiceException) as e:
            print("gazebo/reset_simulation service call failed")

        data = None
        while data is None:
            try:
                data = rospy.wait_for_message('scan', LaserScan, timeout=5)
            except:
                pass

        if self.initGoal:
            self.goal_x, self.goal_y = self.respawn_goal.getPosition()
            self.initGoal = False

        self.goal_distance = self.getGoalDistace()
        state, done = self.getState(data)

        return np.asarray(state) 

def reset(self):
        rospy.wait_for_service('gazebo/reset_simulation')
        try:
            self.reset_proxy()
        except (rospy.ServiceException) as e:
            print("gazebo/reset_simulation service call failed")

        data = None
        while data is None:
            try:
                data = rospy.wait_for_message('scan', LaserScan, timeout=5)
            except:
                pass

        if self.initGoal:
            self.goal_x, self.goal_y = self.respawn_goal.getPosition()
            self.initGoal = False

        self.goal_distance = self.getGoalDistace()
        state, done = self.getState(data)

        return np.asarray(state) 

def spawn_urdf(name, description_xml, pose, reference_frame):
    rospy.wait_for_service('/gazebo/spawn_urdf_model')
    try:
        spawn_urdf = rospy.ServiceProxy('/gazebo/spawn_urdf_model', SpawnModel)
        resp_urdf = spawn_urdf(name, description_xml, "/", pose, reference_frame)
    except rospy.ServiceException as e:
        rospy.logerr("Spawn URDF service call failed: {0}".format(e)) 

def spawn_sdf(name, description_xml, pose, reference_frame):
    rospy.wait_for_service('/gazebo/spawn_sdf_model')
    try:
        spawn_sdf = rospy.ServiceProxy('/gazebo/spawn_sdf_model', SpawnModel)
        resp_sdf = spawn_sdf(name, description_xml, "/", pose, reference_frame)
    except rospy.ServiceException as e:
        rospy.logerr("Spawn SDF service call failed: {0}".format(e)) 

def delete_gazebo_models(model_list):
    # This will be called on ROS Exit, deleting Gazebo models
    # Do not wait for the Gazebo Delete Model service, since
    # Gazebo should already be running. If the service is not
    # available since Gazebo has been killed, it is fine to error out
    try:
        delete_model = rospy.ServiceProxy('/gazebo/delete_model', DeleteModel)

        for model in model_list:
            resp_delete = delete_model(model)
    except rospy.ServiceException as e:
        print("Delete Model service call failed: {0}".format(e)) 

def set_start(self, x, y, theta):
        state = ModelState()
        state.model_name = 'robot'
        state.reference_frame = 'world'  # ''ground_plane'
        # pose
        state.pose.position.x = x
        state.pose.position.y = y
        state.pose.position.z = 0
        quaternion = tf.transformations.quaternion_from_euler(0, 0, theta)
        state.pose.orientation.x = quaternion[0]
        state.pose.orientation.y = quaternion[1]
        state.pose.orientation.z = quaternion[2]
        state.pose.orientation.w = quaternion[3]
        # twist
        state.twist.linear.x = 0
        state.twist.linear.y = 0
        state.twist.linear.z = 0
        state.twist.angular.x = 0
        state.twist.angular.y = 0
        state.twist.angular.z = 0

        rospy.wait_for_service('/gazebo/set_model_state')
        try:
            set_state = self.set_state
            result = set_state(state)
            assert result.success is True
        except rospy.ServiceException:
            print("/gazebo/get_model_state service call failed") 

def set_goal(self, x, y):
        state = ModelState()
        state.model_name = 'goal'
        state.reference_frame = 'world'  # ''ground_plane'
        state.pose.position.x = x
        state.pose.position.y = y
        state.pose.position.z = 0.1

        rospy.wait_for_service('/gazebo/set_model_state')
        try:
            set_state = self.set_state
            result = set_state(state)
            assert result.success is True
        except rospy.ServiceException:
            print("/gazebo/get_model_state service call failed") 

def set_start(x, y, theta):
    state = ModelState()
    state.model_name = 'robot'
    state.reference_frame = 'world'  # ''ground_plane'
    # pose
    state.pose.position.x = x
    state.pose.position.y = y
    state.pose.position.z = 0
    quaternion = tf.transformations.quaternion_from_euler(0, 0, theta)
    state.pose.orientation.x = quaternion[0]
    state.pose.orientation.y = quaternion[1]
    state.pose.orientation.z = quaternion[2]
    state.pose.orientation.w = quaternion[3]
    # twist
    state.twist.linear.x = 0
    state.twist.linear.y = 0
    state.twist.linear.z = 0
    state.twist.angular.x = 0
    state.twist.angular.y = 0
    state.twist.angular.z = 0

    rospy.wait_for_service('/gazebo/set_model_state')
    try:
        set_state = rospy.ServiceProxy('/gazebo/set_model_state', SetModelState)
        result = set_state(state)
        assert result.success is True
        print("set the model state successfully")
    except rospy.ServiceException:
        print("/gazebo/get_model_state service call failed") 

def respawn_static_objects(self, models):
        """
        Respawning a new scene of static objects. Objects from previous tasks are reused
        and simply removed to the appropriate object position.
        More efficient, because several models are spawned with one service call.
        :param  models list of models
        """
        old_model_names = []
        for old_model in self.__static_objects:
            old_model_names.append(old_model.name)
        rospy.wait_for_service('%s/respawn_models' % self.NS)
        try:
            self.__respawn_models.call(old_model_names, models)
        except (TypeError):
            print('Spawn object: TypeError.')
            return
        except (rospy.ServiceException):
            print('Spawn object: rospy.ServiceException. Closing serivce')
            try:
                self.__spawn_model.close()
            except AttributeError:
                print('Spawn object close(): AttributeError.')
                return
            return
        except AttributeError:
            print('Spawn object: AttributeError.')
            return
        self.__static_objects = models 

def __respawn_peds(self, peds):
        """
        Spawning one pedestrian in the simulation.
        :param  start_pos start position of the pedestrian.
        :param  wps waypoints the pedestrian is supposed to walk to.
        :param  id id of the pedestrian.
        """
        srv = SpawnPeds()
        srv.peds = []
        for ped in peds:
            msg = Ped()
            msg.id = ped[0]
            msg.pos = Point()
            msg.pos.x = ped[1][0]
            msg.pos.y = ped[1][1]
            msg.pos.z = ped[1][2]
            msg.type = self.__ped_type
            msg.number_of_peds = 1
            msg.yaml_file = self.__ped_file
            msg.waypoints = []
            for pos in ped[2]:
                p = Point()
                p.x = pos[0]
                p.y = pos[1]
                p.z = pos[2]
                msg.waypoints.append(p)
            srv.peds.append(msg)

        rospy.wait_for_service('%s/pedsim_simulator/respawn_peds' % self.NS)
        try:
            # self.__spawn_ped_srv.call(srv.peds)
            self.__respawn_peds_srv.call(srv.peds)
        except rospy.ServiceException:
            print('Spawn object: rospy.ServiceException. Closing serivce')
            try:
                self.__spawn_model.close()
            except AttributeError:
                print('Spawn object close(): AttributeError.')
                return
        self.__peds = peds
        return 

def get_model_pose(model_name, relative_entity_name='world'):
    rospy.wait_for_service('gazebo/get_model_state')
    try:
        get_model_state = rospy.ServiceProxy('gazebo/get_model_state', gazebo_msgs.srv.GetModelState)
        res = get_model_state(model_name, relative_entity_name)
        return res.pose
    except rospy.ServiceException as e:
        print("Service call failed: %s"%e) 

def set_model_pose(model_name, model_pose, relative_entity_name='world'):
    rospy.wait_for_service('gazebo/set_model_state')
    try:
        set_model_state = rospy.ServiceProxy('gazebo/set_model_state', gazebo_msgs.srv.SetModelState)
        model_state = gazebo_msgs.msg.ModelState()
        model_state.model_name = model_name
        model_state.pose = model_pose
        model_state.reference_frame = relative_entity_name
        set_model_state(model_state)
    except rospy.ServiceException as e:
        print("Service call failed: %s"%e) 

def get_forward_kinematic(joints):
    try:
        rospy.wait_for_service('compute_fk', 2)
    except (rospy.ServiceException, rospy.ROSException) as e:
        rospy.logerr("Service call failed:", e)
        return None
    try:
        moveit_fk = rospy.ServiceProxy('compute_fk', GetPositionFK)
        fk_link = ['base_link', 'tool_link']
        joint_names = ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
        header = Header(0, rospy.Time.now(), "/world")
        rs = RobotState()
        rs.joint_state.name = joint_names
        rs.joint_state.position = joints
        response = moveit_fk(header, fk_link, rs)
    except rospy.ServiceException as e:
        rospy.logerr("Service call failed:", e)
        return None

    quaternion = [response.pose_stamped[1].pose.orientation.x, response.pose_stamped[1].pose.orientation.y,
                  response.pose_stamped[1].pose.orientation.z, response.pose_stamped[1].pose.orientation.w]
    rpy = get_rpy_from_quaternion(quaternion)
    quaternion = Position.Quaternion(round(quaternion[0], 3), round(quaternion[1], 3), round(quaternion[2], 3),
                                     round(quaternion[3], 3))
    point = Position.Point(round(response.pose_stamped[1].pose.position.x, 3),
                           round(response.pose_stamped[1].pose.position.y, 3),
                           round(response.pose_stamped[1].pose.position.z, 3))
    rpy = Position.RPY(round(rpy[0], 3), round(rpy[1], 3), round(rpy[2], 3))
    rospy.loginfo("kinematic forward has been calculated ")
    return point, rpy, quaternion 

def activate_learning_mode(activate):
        try:
            rospy.wait_for_service('/niryo_one/activate_learning_mode', 1)
            srv = rospy.ServiceProxy('/niryo_one/activate_learning_mode', SetInt)
            resp = srv(int(activate))
            return resp.status == 200
        except (rospy.ServiceException, rospy.ROSException), e:
            return False 

def set_calibration_camera(self, obj_name):
        service_name = self.__services_name['set_calibration_camera_service']
        rospy.wait_for_service(service_name)
        msg = SetCalibrationCamRequest()
        # msg.label = "MDRRR"
        msg.name = obj_name
        try:
            calibra_service = rospy.ServiceProxy(service_name, SetCalibrationCam)
            res = calibra_service(msg)
            return self.__status_interpreter_calibration[res.status]
        except rospy.ServiceException, e:
            print "Service call failed: %s" % e 

def get_calibration_camera(self):
        service_name = self.__services_name['get_calibration_camera_service']
        rospy.wait_for_service(service_name)

        try:
            calibra_service = rospy.ServiceProxy(service_name, GetCalibrationCam)
            res = calibra_service(Empty())
            return res
        except rospy.ServiceException, e:
            print "Service call failed: %s" % e