tune_pid.py
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00001 #! /usr/bin/env python
00002 # Copyright (c) 2009, Willow Garage, Inc.
00003 # All rights reserved.
00004 #
00005 # Redistribution and use in source and binary forms, with or without
00006 # modification, are permitted provided that the following conditions are met:
00007 #
00008 #     * Redistributions of source code must retain the above copyright
00009 #       notice, this list of conditions and the following disclaimer.
00010 #     * Redistributions in binary form must reproduce the above copyright
00011 #       notice, this list of conditions and the following disclaimer in the
00012 #       documentation and/or other materials provided with the distribution.
00013 #     * Neither the name of the Willow Garage, Inc. nor the names of its
00014 #       contributors may be used to endorse or promote products derived from
00015 #       this software without specific prior written permission.
00016 #
00017 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027 # POSSIBILITY OF SUCH DAMAGE.
00028 
00029 # Author: Stuart Glaser
00030 
00031 import sys, time
00032 import roslib
00033 roslib.load_manifest('control_toolbox')
00034 
00035 import rospy
00036 import control_toolbox.srv
00037 
00038 def print_usage(exit_code = 0):
00039     print "Usage:  tune_pid.py <service> [<p> <i> <d> <i_clamp>]"
00040     sys.exit(exit_code)
00041 
00042 def main():
00043     if not (len(sys.argv) in [2, 6]):
00044         print_usage()
00045 
00046     if len(sys.argv) == 2:
00047         print "Not implemented yet"
00048     elif len(sys.argv) == 6:
00049         service_name = sys.argv[1]
00050         if not service_name.endswith('/set_gains'):
00051             service_name = service_name + '/set_gains'
00052         set_gains = rospy.ServiceProxy(service_name, control_toolbox.srv.SetPidGains)
00053         set_gains(*map(float, sys.argv[2:6]))
00054 
00055 if __name__ == '__main__': main()


control_toolbox
Author(s): Melonee Wise, Sachin Chitta, John Hsu
autogenerated on Thu Apr 24 2014 15:44:31