You're right, the wiki documentation is incorrect, the supplied request should be of type gazebo.srv.JointRequest, not gazebo.srv.ClearJointForces. I'll update the wiki.
On 01/28/2011 05:44 PM, John Hsu wrote:Thank you.
Is my understanding correct?
yes, the forces applied are cumulative. I've updated the wiki to reflect so.I am running C-Turtle for Ubuntu. "rosnode info gazebo" shows /gazebo/clear_joint_forces in the service list, but "rossrv package gazebo" does not list gazebo/ClearJointForces.
I tried to use gazebo/clear_joint_forces instead of applying a -0.01
effort, but it appears that clear_joint_forces is no longer in ROS, even
though it is in the Gazebo package documentation in the ROS wiki.
"locate ClearJointForces" doesn't find anything, but "locate ApplyJointEffort" shows:
/opt/ros/cturtle/stacks/simulator_gazebo/gazebo/src/gazebo/srv/_ApplyJointEffort.py
/opt/ros/cturtle/stacks/simulator_gazebo/gazebo/src/gazebo/srv/_ApplyJointEffort.pyc
/opt/ros/cturtle/stacks/simulator_gazebo/gazebo/srv/ApplyJointEffort.srv
/opt/ros/cturtle/stacks/simulator_gazebo/gazebo/srv/lisp/gazebo/.ApplyJointEffort.asd-dep
/opt/ros/cturtle/stacks/simulator_gazebo/gazebo/srv/lisp/gazebo/ApplyJointEffort.lisp
/opt/ros/cturtle/stacks/simulator_gazebo/gazebo/srv/lisp/gazebo/_package_ApplyJointEffort.lisp
/opt/ros/cturtle/stacks/simulator_gazebo/gazebo/srv_gen/cpp/include/gazebo/ApplyJointEffort.h
"ls /opt/ros/cturtle/stacks/simulator_gazebo/gazebo/srv" lists:
ApplyBodyWrench.srv GetModelProperties.srv SetLinkProperties.srv
ApplyJointEffort.srv GetModelState.srv SetLinkState.srv
BodyRequest.srv GetPhysicsProperties.srv SetModelConfiguration.srv
DeleteModel.srv GetWorldProperties.srv SetModelState.srv
GetJointProperties.srv JointRequest.srv SetPhysicsProperties.srv
GetLinkProperties.srv lisp SpawnModel.srv
GetLinkState.srv SetJointProperties.srv
This works:
rospy.wait_for_service("gazebo/apply_joint_effort")
_apply_joint_effort = rospy.ServiceProxy("gazebo/apply_joint_effort", gazebo.srv.ApplyJointEffort)
but this:
rospy.wait_for_service("gazebo/clear_joint_forces")
_clear_joint_forces = rospy.ServiceProxy("gazebo/clear_joint_forces", gazebo.srv.ClearJointForces)
results in this:
Traceback (most recent call last):
File "truck.py", line 141, in <module>
gazebo.srv.ClearJointForces)
AttributeError: 'module' object has no attribute 'ClearJointForces'
-- Jim Rothrock | Wunderkammer Laboratory jim.rothrock@wunderkammerlab.com
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