[ros-users] Is gazebo/apply_joint_effort cumulative?

[John Hsu]

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.
Thanks,
John

On Mon, Jan 31, 2011 at 4:35 PM, Jim Rothrock <
jim.rothrock at wunderkammerlab.com> wrote:

>  On 01/28/2011 05:44 PM, John Hsu wrote:
>
>
>   Is my understanding correct?
>>
>
>  yes, the forces applied are cumulative.  I've updated the wiki to reflect
> so.
>
> Thank you.
>
>
>  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.
>>
>
>  which release are you running?  I see the clear_joint_forces service
> calls in both cturtle<https://code.ros.org/svn/ros-pkg/stacks/simulator_gazebo/tags/cturtle/gazebo/src/gazeboros.cpp>and
> unstable<https://code.ros.org/svn/ros-pkg/stacks/simulator_gazebo/tags/unstable/gazebo/src/gazeboros.cpp>(diamondback
> alpha) files.
>
> 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.
> "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 Laboratoryjim.rothrock at wunderkammerlab.com
>
>
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>
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