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()