text: #!/usr/bin/env python
  
  # Software License Agreement (BSD License)
  #
  # Copyright (c) 2011, Robot Control and Pattern Recognition Group, Warsaw University of Technology
  #
  # All rights reserved.
  #
  # Redistribution and use in source and binary forms, with or without
  # modification, are permitted provided that the following conditions are met:
  # * Redistributions of source code must retain the above copyright
  # notice, this list of conditions and the following disclaimer.
  # * Redistributions in binary form must reproduce the above copyright
  # notice, this list of conditions and the following disclaimer in the
  # documentation and/or other materials provided with the distribution.
  # * Neither the name of the <organization> nor the
  # names of its contributors may be used to endorse or promote products
  # derived from this software without specific prior written permission.
  #
  # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
  # ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
  # WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  # DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
  # DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
  # (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
  # ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
  # (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  # SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  
  import rospy
  #import tf
  
  from controller_manager_msgs.srv import *
  
  if __name__ == '__main__':
      try:
          rospy.wait_for_service('/controller_manager/switch_controller')
          conmanSwitch = rospy.ServiceProxy('/controller_manager/switch_controller', SwitchController)
          # '2' is for STRICT
          if conmanSwitch(['CImp', 'PoseIntLeft', 'PoseIntRight'], ['JntImp', 'TrajectoryGeneratorJoint'], 2):
              print "ok"
          else:
              print "failed"
      except rospy.ROSInterruptException: pass
      except IOError: pass
      except KeyError: pass
  
  