tune_pid.py

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#! /usr/bin/env python
# Copyright (c) 2009, Willow Garage, Inc.
# All rights reserved.
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# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
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#       documentation and/or other materials provided with the distribution.
#     * Neither the name of the Willow Garage, Inc. nor the names of its
#       contributors may be used to endorse or promote products derived from
#       this software without specific prior written permission.
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# Author: Stuart Glaser

import sys, time

import rospy
import control_toolbox.srv

def print_usage(exit_code = 0):
    print "Usage:  tune_pid.py <service> [<p> <i> <d> <i_clamp>]"
    sys.exit(exit_code)

def main():
    if not (len(sys.argv) in [2, 6]):
        print_usage()

    if len(sys.argv) == 2:
        print "Not implemented yet"
    elif len(sys.argv) == 6:
        service_name = sys.argv[1]
        if not service_name.endswith('/set_gains'):
            service_name = service_name + '/set_gains'
        set_gains = rospy.ServiceProxy(service_name, control_toolbox.srv.SetPidGains)
        set_gains(*map(float, sys.argv[2:6]))

if __name__ == '__main__': main()