gazebo/ApplyBodyWrench Service

File: gazebo/ApplyBodyWrench.srv

# Apply Wrench to Gazebo Body.
# via the callback mechanism
# all Gazebo operations are made in world frame
string body_name                          # Gazebo body to apply wrench (linear force and torque)
                                          # wrench is applied in the gazebo world by default
string reference_frame                    # wrench is defined in the reference frame of this entity
                                          # use inertial frame if left empty
geometry_msgs/Point  reference_point      # wrench is defined at this location in the reference frame
geometry_msgs/Wrench wrench               # wrench applied to the origin of the body
time start_time                           # (optional) wrench application start time (seconds)
                                          # if start_time is not specified, or
                                          # start_time < current time, start as soon as possible
duration duration                         # optional duration of wrench application time (seconds)
                                          # if duration < 0, apply wrench continuously without end
                                          # if duration = 0, do nothing
                                          # if duration < step size, apply wrench
                                          # for one step size
---
bool success                              # return true if set wrench successful
string status_message                     # comments if available

Expanded Definition

string body_name
string reference_frame
geometry_msgs/Point reference_point
    float64 x
    float64 y
    float64 z
geometry_msgs/Wrench wrench
    geometry_msgs/Vector3 force
        float64 x
        float64 y
        float64 z
    geometry_msgs/Vector3 torque
        float64 x
        float64 y
        float64 z
time start_time
duration duration

bool success
string status_message