pr2_simulate_torso_spring.py
Go to the documentation of this file.
00001 #! /usr/bin/python
00002 
00003 #***********************************************************
00004 #* Software License Agreement (BSD License)
00005 #*
00006 #*  Copyright (c) 2009, Willow Garage, Inc.
00007 #*  All rights reserved.
00008 #*
00009 #*  Redistribution and use in source and binary forms, with or without
00010 #*  modification, are permitted provided that the following conditions
00011 #*  are met:
00012 #*
00013 #*   * Redistributions of source code must retain the above copyright
00014 #*     notice, this list of conditions and the following disclaimer.
00015 #*   * Redistributions in binary form must reproduce the above
00016 #*     copyright notice, this list of conditions and the following
00017 #*     disclaimer in the documentation and/or other materials provided
00018 #*     with the distribution.
00019 #*   * Neither the name of the Willow Garage nor the names of its
00020 #*     contributors may be used to endorse or promote products derived
00021 #*     from this software without specific prior written permission.
00022 #*
00023 #*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00024 #*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00025 #*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00026 #*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00027 #*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00028 #*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00029 #*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00030 #*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031 #*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00032 #*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00033 #*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00034 #*  POSSIBILITY OF SUCH DAMAGE.
00035 #***********************************************************
00036 
00037 # Author: John Hsu
00038 
00039 # Simulates Applies a joint effort to simulate torso spring
00040 # Does this by calling the /gazebo/apply_joint_effort service
00041 
00042 import roslib
00043 roslib.load_manifest('pr2_gazebo')
00044 import rospy
00045 import time
00046 from gazebo.msg import *
00047 from gazebo.srv import *
00048 
00049 if __name__ == '__main__':
00050   rospy.init_node('pr2_simulate_torso_spring')
00051   rospy.wait_for_service('/gazebo/apply_joint_effort')
00052   time.sleep(10);
00053   apply_joint_effort = rospy.ServiceProxy('/gazebo/apply_joint_effort', ApplyJointEffort)
00054   joint_name = "torso_lift_joint"
00055   effort = 462.56
00056   start_time = rospy.Duration.from_sec(0)
00057   duration = rospy.Duration.from_sec(-1)
00058   try:
00059     resp1 = apply_joint_effort(joint_name, effort, start_time, duration)
00060   except rospy.ServiceException, e:
00061     print "Service did not process request: %s"%str(e)
00062 
00063 


pr2_gazebo
Author(s): John Hsu
autogenerated on Thu Jan 2 2014 11:45:25