pr2_simulate_torso_spring.py

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#! /usr/bin/python

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# Author: John Hsu

# Simulates Applies a joint effort to simulate torso spring
# Does this by calling the /gazebo/apply_joint_effort service

import roslib
roslib.load_manifest('pr2_gazebo')
import rospy
import time
from gazebo_msgs.msg import *
from gazebo_msgs.srv import *

if __name__ == '__main__':
  rospy.init_node('pr2_simulate_torso_spring')
  rospy.wait_for_service('/gazebo/apply_joint_effort')
  time.sleep(10);
  apply_joint_effort = rospy.ServiceProxy('/gazebo/apply_joint_effort', ApplyJointEffort)
  joint_name = "torso_lift_joint"
  effort = 462.56
  start_time = rospy.Duration.from_sec(0)
  duration = rospy.Duration.from_sec(-1)
  try:
    resp1 = apply_joint_effort(joint_name, effort, start_time, duration)
  except rospy.ServiceException, e:
    print "Service did not process request: %s"%str(e)