set_wrench.py
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1 #!/usr/bin/env python
2 # Software License Agreement (BSD License)
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34 
35 ## Gazebo send wrench topic for gazebo_ros_force consumption
36 
37 PKG = 'gazebo_plugins'
38 NAME = 'set_wrench'
39 
40 import math
41 import roslib
42 roslib.load_manifest(PKG)
43 
44 import sys, unittest
45 import os, os.path, threading, time
46 import rospy, rostest
47 
48 from geometry_msgs.msg import Wrench, Vector3
49 import tf.transformations as tft
50 from numpy import float64
51 
53  def __init__(self):
54  self.update_rate=10
55  self.target_l = [0,0,0] # linear
56  self.target_e = [0,0,0] # angular
57  self.topic_name = "set_wrench_topic"
58  self.timeout=1
59  rospy.init_node(NAME, anonymous=True)
60 
61  def setWrench(self):
62  # get goal from commandline
63  for i in range(0,len(sys.argv)):
64  if sys.argv[i] == '-update_rate':
65  if len(sys.argv) > i+1:
66  self.update_rate = float(sys.argv[i+1])
67  if sys.argv[i] == '-timeout':
68  if len(sys.argv) > i+1:
69  self.timeout = float(sys.argv[i+1])
70  if sys.argv[i] == '-x':
71  if len(sys.argv) > i+1:
72  self.target_l[0] = float(sys.argv[i+1])
73  if sys.argv[i] == '-y':
74  if len(sys.argv) > i+1:
75  self.target_l[1] = float(sys.argv[i+1])
76  if sys.argv[i] == '-z':
77  if len(sys.argv) > i+1:
78  self.target_l[2] = float(sys.argv[i+1])
79  if sys.argv[i] == '-R':
80  if len(sys.argv) > i+1:
81  self.target_e[0] = float(sys.argv[i+1])
82  if sys.argv[i] == '-P':
83  if len(sys.argv) > i+1:
84  self.target_e[1] = float(sys.argv[i+1])
85  if sys.argv[i] == '-Y':
86  if len(sys.argv) > i+1:
87  self.target_e[2] = float(sys.argv[i+1])
88  if sys.argv[i] == '-t':
89  if len(sys.argv) > i+1:
90  self.topic_name = sys.argv[i+1]
91 
92  # setup rospy
93  self.pub_set_wrench_topic = rospy.Publisher(self.topic_name, Wrench)
94 
95  # compoose goal message
96  w = Wrench(Vector3(self.target_l[0],self.target_l[1],self.target_l[2]),Vector3(self.target_e[0],self.target_e[1],self.target_e[2]))
97 
98  # publish topic if specified
99  timeout_t = time.time() + self.timeout
100  while not rospy.is_shutdown() and time.time() < timeout_t:
101  # publish target wrench
102  self.pub_set_wrench_topic.publish(w)
103 
104  if self.update_rate > 0:
105  time.sleep(1.0/self.update_rate)
106  else:
107  time.sleep(0.001)
108 
109 def print_usage(exit_code = 0):
110  print '''Commands:
111  -update_rate <Hz> - update rate, default to 10 Hz
112  -timeout <seconds> - test timeout in seconds. default to 1 seconds
113  -x <x in meters>
114  -y <y in meters>
115  -z <z in meters>
116  -R <roll in radians>
117  -P <pitch in radians>
118  -Y <yaw in radians>
119  -t set wrench topic name
120 '''
121 
122 if __name__ == '__main__':
123  #print usage if not arguments
124  if len(sys.argv) == 1:
125  print_usage()
126  else:
128  sic.setWrench()
129 
130 
131 
def print_usage(exit_code=0)
Definition: set_wrench.py:109


gazebo_plugins
Author(s): John Hsu
autogenerated on Tue Apr 6 2021 02:19:39