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 _GetDetection(self, obj_name):
        """
        Calls the service to get a detection of a particular object.
        @param obj_name The name of the object to detect
        @return A 4x4 transformation matrix describing the pose of the object
        in world frame, None if the object is not detected
        """
        #Call detection service for a particular object
        detect_vncc = rospy.ServiceProxy(self.service_namespace+'/get_vncc_detections',
                                         vncc_msgs.srv.GetDetections)
        
        detect_resp = detect_vncc(object_name=obj_name)
        
        if detect_resp.ok == False:
            return None
            
        #Assumes one instance of object
        result = self._MsgToPose(detect_resp.detections[0])
        if (self.detection_frame is not None and self.world_frame is not None):
            result = self._LocalToWorld(result)
        result[:3,:3] = numpy.eye(3)
        return result 

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 __init__(self):
        rospy.wait_for_service('niryo_one/tools/ping_and_set_dxl_tool')
        rospy.wait_for_service('niryo_one/tools/open_gripper')
        rospy.wait_for_service('niryo_one/tools/close_gripper')
        rospy.wait_for_service('niryo_one/tools/pull_air_vacuum_pump')
        rospy.wait_for_service('niryo_one/tools/push_air_vacuum_pump')

        self.service_ping_dxl_tool = rospy.ServiceProxy('niryo_one/tools/ping_and_set_dxl_tool', PingDxlTool)

        self.service_open_gripper = rospy.ServiceProxy('niryo_one/tools/open_gripper', OpenGripper)
        self.service_close_gripper = rospy.ServiceProxy('niryo_one/tools/close_gripper', CloseGripper)

        self.service_pull_air_vacuum_pump = rospy.ServiceProxy('niryo_one/tools/pull_air_vacuum_pump',
                                                               PullAirVacuumPump)
        self.service_push_air_vacuum_pump = rospy.ServiceProxy('niryo_one/tools/push_air_vacuum_pump',
                                                               PushAirVacuumPump)

        self.service_setup_digital_output_tool = rospy.ServiceProxy('niryo_one/rpi/set_digital_io_mode', SetDigitalIO)
        self.service_activate_digital_output_tool = rospy.ServiceProxy('niryo_one/rpi/set_digital_io_state',
                                                                       SetDigitalIO)

        rospy.loginfo("Interface between Tools Controller and Ros Control has been started.") 

def spawn_model(model_name):
    """ Spawns a model in front of the RGBD camera.

        Args: None

        Returns: None
    """
    initial_pose = Pose()
    initial_pose.position.x = 0
    initial_pose.position.y = 1
    initial_pose.position.z = 1

    # Spawn the new model #
    model_path = rospkg.RosPack().get_path('sensor_stick')+'/models/'
    model_xml = ''

    with open (model_path + model_name + '/model.sdf', 'r') as xml_file:
        model_xml = xml_file.read().replace('\n', '')

    spawn_model_prox = rospy.ServiceProxy('gazebo/spawn_sdf_model', SpawnModel)
    spawn_model_prox('training_model', model_xml, '', initial_pose, 'world') 

def execute(self, inputs, outputs, gvm):
    turtle_name = inputs["turtle_name"]
    x = inputs["x_pos"]
    y = inputs["y_pos"]
    phi = inputs["phi"]

    service = "/spawn"
    rospy.wait_for_service(service)
    spawn_turtle_service = rospy.ServiceProxy(service, Spawn)
    resp1 = spawn_turtle_service(x, y, phi, turtle_name)
    self.logger.info("ROS external module: executed the {} service".format(service))

    turtle_pos_subscriber = rospy.Subscriber("/" + turtle_name + "/pose", Pose, check_turtle_pose)

    r = rospy.Rate(10)
    global pose_received
    # wait until the first pose message was received
    while not pose_received:
        r.sleep()

    return 0 

def __init__(self):

        rospy.init_node("mav_control_node")
        rospy.Subscriber("/mavros/local_position/pose", PoseStamped, self.pose_callback)
        rospy.Subscriber("/mavros/rc/in", RCIn, self.rc_callback)

        self.cmd_pos_pub = rospy.Publisher("/mavros/setpoint_position/local", PoseStamped, queue_size=1)
        self.cmd_vel_pub = rospy.Publisher("/mavros/setpoint_velocity/cmd_vel_unstamped", Twist, queue_size=1)
        self.rc_override = rospy.Publisher("/mavros/rc/override", OverrideRCIn, queue_size=1)

        # mode 0 = STABILIZE
        # mode 4 = GUIDED
        # mode 9 = LAND
        self.mode_service = rospy.ServiceProxy('/mavros/set_mode', SetMode)
        self.arm_service = rospy.ServiceProxy('/mavros/cmd/arming', CommandBool)
        self.takeoff_service = rospy.ServiceProxy('/mavros/cmd/takeoff', CommandTOL)

        self.rc = RCIn()
        self.pose = Pose()
        self.timestamp = rospy.Time() 

def __init__(self):

        rospy.init_node("mav_control_node")
        rospy.Subscriber("/mavros/local_position/pose", PoseStamped, self.pose_callback)
        rospy.Subscriber("/mavros/rc/in", RCIn, self.rc_callback)

        self.cmd_pos_pub = rospy.Publisher("/mavros/setpoint_position/local", PoseStamped, queue_size=1)
        self.cmd_vel_pub = rospy.Publisher("/mavros/setpoint_velocity/cmd_vel_unstamped", Twist, queue_size=1)
        self.rc_override = rospy.Publisher("/mavros/rc/override", OverrideRCIn, queue_size=1)

        # mode 0 = STABILIZE
        # mode 4 = GUIDED
        # mode 9 = LAND
        self.mode_service = rospy.ServiceProxy('/mavros/set_mode', SetMode)
        self.arm_service = rospy.ServiceProxy('/mavros/cmd/arming', CommandBool)
        self.takeoff_service = rospy.ServiceProxy('/mavros/cmd/takeoff', CommandTOL)

        self.rc = RCIn()
        self.pose = Pose()
        self.timestamp = rospy.Time() 

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 __call__(self, **kwargs):
            rospy.loginfo('will call service {}'.format(self.service_name))
            from tts.srv import Polly
            rospy.wait_for_service(self.service_name)
            polly = rospy.ServiceProxy(self.service_name, Polly)
            return polly(polly_action='SynthesizeSpeech', **kwargs) 

def test_plain_text_to_wav_via_polly_node(self):
        rospy.wait_for_service('polly')
        polly = rospy.ServiceProxy('polly', Polly)

        test_text = 'Mary has a little lamb, little lamb, little lamb.'
        res = polly(polly_action='SynthesizeSpeech', text=test_text)
        self.assertIsNotNone(res)
        self.assertTrue(type(res) is PollyResponse)

        r = json.loads(res.result)
        self.assertIn('Audio Type', r, 'result should contain audio type')
        self.assertIn('Audio File', r, 'result should contain file path')
        self.assertIn('Amazon Polly Response Metadata', r, 'result should contain metadata')

        audio_type = r['Audio Type']
        audio_file = r['Audio File']
        md = r['Amazon Polly Response Metadata']
        self.assertTrue("'HTTPStatusCode': 200," in md)
        self.assertEqual('audio/ogg', audio_type)
        self.assertTrue(audio_file.endswith('.ogg'))

        import subprocess
        o = subprocess.check_output(['file', audio_file], stderr=subprocess.STDOUT)
        import re
        m = re.search(r'.*Ogg data, Vorbis audi.*', o, flags=re.MULTILINE)
        self.assertIsNotNone(m) 

def test_plain_text_via_synthesizer_node(self):
        rospy.wait_for_service('synthesizer')
        speech_synthesizer = rospy.ServiceProxy('synthesizer', Synthesizer)

        text = 'Mary has a little lamb, little lamb, little lamb.'
        res = speech_synthesizer(text=text)
        self.assertIsNotNone(res)
        self.assertTrue(type(res) is SynthesizerResponse)

        r = json.loads(res.result)
        self.assertIn('Audio Type', r, 'result should contain audio type')
        self.assertIn('Audio File', r, 'result should contain file path')
        self.assertIn('Amazon Polly Response Metadata', r, 'result should contain metadata')

        audio_type = r['Audio Type']
        audio_file = r['Audio File']
        md = r['Amazon Polly Response Metadata']
        self.assertTrue("'HTTPStatusCode': 200," in md)
        self.assertEqual('audio/ogg', audio_type)
        self.assertTrue(audio_file.endswith('.ogg'))

        import subprocess
        o = subprocess.check_output(['file', audio_file], stderr=subprocess.STDOUT)
        import re
        m = re.search(r'.*Ogg data, Vorbis audi.*', o, flags=re.MULTILINE)
        self.assertIsNotNone(m) 

def test_plain_text_to_mp3_via_polly_node(self):
        rospy.wait_for_service('polly')
        polly = rospy.ServiceProxy('polly', Polly)

        test_text = 'Mary has a little lamb, little lamb, little lamb.'
        res = polly(polly_action='SynthesizeSpeech', text=test_text, output_format='mp3')
        self.assertIsNotNone(res)
        self.assertTrue(type(res) is PollyResponse)

        r = json.loads(res.result)
        self.assertIn('Audio Type', r, 'result should contain audio type')
        self.assertIn('Audio File', r, 'result should contain file path')
        self.assertIn('Amazon Polly Response Metadata', r, 'result should contain metadata')

        audio_type = r['Audio Type']
        audio_file = r['Audio File']
        md = r['Amazon Polly Response Metadata']
        self.assertTrue("'HTTPStatusCode': 200," in md)
        self.assertEqual('audio/mpeg', audio_type)
        self.assertTrue(audio_file.endswith('.mp3'))

        import subprocess
        o = subprocess.check_output(['file', audio_file], stderr=subprocess.STDOUT)
        import re
        m = re.search(r'.*MPEG.*layer III.*', o, flags=re.MULTILINE)
        self.assertIsNotNone(m) 

def test_simple_ssml_via_polly_node(self):
        rospy.wait_for_service('polly')
        polly = rospy.ServiceProxy('polly', Polly)

        text = '<speak>Mary has a little lamb, little lamb, little lamb.</speak>'
        res = polly(polly_action='SynthesizeSpeech', text=text, text_type='ssml')
        self.assertIsNotNone(res)
        self.assertTrue(type(res) is PollyResponse)

        r = json.loads(res.result)
        self.assertIn('Audio Type', r, 'result should contain audio type')
        self.assertIn('Audio File', r, 'result should contain file path')
        self.assertIn('Amazon Polly Response Metadata', r, 'result should contain metadata')

        audio_type = r['Audio Type']
        audio_file = r['Audio File']
        md = r['Amazon Polly Response Metadata']
        self.assertTrue("'HTTPStatusCode': 200," in md)
        self.assertEqual('audio/ogg', audio_type)
        self.assertTrue(audio_file.endswith('.ogg'))

        import subprocess
        o = subprocess.check_output(['file', audio_file], stderr=subprocess.STDOUT)
        import re
        m = re.search(r'.*Ogg data, Vorbis audi.*', o, flags=re.MULTILINE)
        self.assertIsNotNone(m) 

def do_synthesize(goal):
    """calls synthesizer service to do the job"""
    rospy.wait_for_service('synthesizer')
    synthesize = rospy.ServiceProxy('synthesizer', Synthesizer)
    return synthesize(goal.text, goal.metadata) 

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(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 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 _GetDetections(self, obj_names):
        import simtrack_msgs.srv
        """
        Calls the service to get a detection of a particular object.
        @param obj_name The name of the object to detect
        @return A 4x4 transformation matrix describing the pose of the object
        in world frame, None if the object is not detected
        """
        #Call detection service for a particular object
        detect_simtrack = rospy.ServiceProxy(self.service_namespace+'/detect_objects',
                                         simtrack_msgs.srv.DetectObjects)
        
        detect_resp = detect_simtrack(obj_names, 5.0)

        
        detections = []

        for i in xrange(0, len(detect_resp.detected_models)) :
            obj_name = detect_resp.detected_models[i];
            obj_pose = detect_resp.detected_poses[i];
            obj_pose_tf = self._MsgToPose(obj_pose);
            if (self.detection_frame is not None and self.world_frame is not None):
                obj_pose_tf = self._LocalToWorld(obj_pose_tf)
            detections.append((obj_name, obj_pose_tf));

        return detections 

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 

def get_debug_markers(self):
        service_name = self.__services_name['debug_markers']
        rospy.wait_for_service(service_name)

        try:
            service = rospy.ServiceProxy(service_name, DebugMarkers)
            response = service()
            im_ret = extract_img_from_ros_msg(response.img)
            return im_ret
        except rospy.ServiceException, e:
            print "Service call failed: %s" % e 

def get_debug_colors(self, color):
        service_name = self.__services_name['debug_colors']
        rospy.wait_for_service(service_name)

        try:
            service = rospy.ServiceProxy(service_name, DebugColorDetection)
            response = service(color)
            im_ret = extract_img_from_ros_msg(response.img)
            return im_ret
        except rospy.ServiceException, e:
            print "Service call failed: %s" % e