Look service to replace the thousand functions (#6)

* try implementing look as a service

* remove nd arrays

* to list instead

scripts/look.py

@@ -0,0 +1,41 @@
+import time
+import qi
+import sys
+import numpy as np
+import rospy
+from robobreizh_msgs.srv import head_position, head_positionResponse
+
+
+class Motion():
+    def __init__(self, app):
+        app.start()
+        session = app.session
+        self.motion_service = session.service("ALMotion")
+        rospy.init_node('look_up')
+        rospy.Service('/robobreizh/manipulation/look', head_position, self.animate)
+        rospy.spin()
+
+    def animate(self, req):
+        # Example showing multiple trajectories
+        names = ["HeadPitch", "HeadYaw"]
+        rad_head_pitch = np.deg2rad(req.head_pitch_angle).tolist()
+        rad_head_yaw = np.deg2rad(req.head_yaw_angle).tolist()
+        angleLists = [rad_head_pitch, rad_head_yaw]
+
+        # set times for joints every seconds
+        timeLists = [req.head_pitch_time, req.head_yaw_time]
+        isAbsolute = True
+        self.motion_service.angleInterpolation(names, angleLists, timeLists, isAbsolute)
+        return (head_positionResponse())
+
+
+if __name__ == "__main__":
+    try:
+        connection_url = "tcp://127.0.0.1:9559"
+        app = qi.Application(
+            ["SoundProcessingModule", "--qi-url=" + connection_url])
+    except RuntimeError:
+        print("Can't connect to Naoqi at ip \"" + ip + "\" on port " + str(port) + ".\n"
+              "Please check your script arguments. Run with -h option for help.")
+        sys.exit(1)
+    motion = Motion(app)