tune_pid.py
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1 #! /usr/bin/env python
2 # Copyright (c) 2009, Willow Garage, Inc.
3 # All rights reserved.
4 #
5 # Redistribution and use in source and binary forms, with or without
6 # modification, are permitted provided that the following conditions are met:
7 #
8 # * Redistributions of source code must retain the above copyright
9 # notice, this list of conditions and the following disclaimer.
10 # * Redistributions in binary form must reproduce the above copyright
11 # notice, this list of conditions and the following disclaimer in the
12 # documentation and/or other materials provided with the distribution.
13 # * Neither the name of the Willow Garage, Inc. nor the names of its
14 # contributors may be used to endorse or promote products derived from
15 # this software without specific prior written permission.
16 #
17 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27 # POSSIBILITY OF SUCH DAMAGE.
28 
29 # Author: Stuart Glaser
30 
31 import sys, time
32 
33 import rospy
34 import control_toolbox.srv
35 
36 def print_usage(exit_code = 0):
37  print "Usage: tune_pid.py <service> [<p> <i> <d> <i_clamp>]"
38  sys.exit(exit_code)
39 
40 def main():
41  if not (len(sys.argv) in [2, 6]):
42  print_usage()
43 
44  if len(sys.argv) == 2:
45  print "Not implemented yet"
46  elif len(sys.argv) == 6:
47  service_name = sys.argv[1]
48  if not service_name.endswith('/set_gains'):
49  service_name = service_name + '/set_gains'
50  set_gains = rospy.ServiceProxy(service_name, control_toolbox.srv.SetPidGains)
51  set_gains(*map(float, sys.argv[2:6]))
52 
53 if __name__ == '__main__': main()
def print_usage(exit_code=0)
Definition: tune_pid.py:36
def main()
Definition: tune_pid.py:40


control_toolbox
Author(s): Melonee Wise, Sachin Chitta, John Hsu
autogenerated on Mon Jun 10 2019 12:56:32