pr2_simulate_torso_spring.py
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00001 #! /usr/bin/python
00002 
00003 #***********************************************************
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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 Jun 6 2019 17:49:15