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[ros2] Port apply/clear wrench and effort services #941

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merged 3 commits into from Aug 14, 2019

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@shiveshkhaitan
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commented Jun 23, 2019

Port apply_body_wrench, clear_body_wrenches, apply_joint_effort and clear_joint_forces services to ROS2.

Usage
Apply Body Wrench
ros2 service call /apply_body_wrench gazebo_msgs/srv/ApplyBodyWrench '{body_name: "box::link", reference_frame: "", reference_point: { x: 100, y: 0, z: 0 }, wrench: { force: { x: 10, y: 0, z: 0 }, torque: { x: 0, y: 0, z: 0 } }, start_time: {sec: 0, nanosec: 0}, duration: {sec: -1, nanosec: 0} }'

Clear Body Wrenches
ros2 service call /clear_body_wrench gazebo_msgs/srv/BodyRequest '{body_name: "box::link"}'

Apply Joint Effort
ros2 service call /apply_joint_effort gazebo_msgs/srv/ApplyJointEffort '{joint_name: "joint", effort: -1.0, start_time: {sec: 0, nanosec: 0}, duration: {sec: 2000, nanosec: 0} }'

Clear Joint Forces
ros2 service call /clear_joint_forces gazebo_msgs/srv/JointRequest '{joint_name: "joint"}'
`

@chapulina
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I did a first pass. Mind adding an example world with a simple model that has a joint, and instructions on how to apply forces to links and joints?

gazebo_ros/src/gazebo_ros_effort.cpp Outdated Show resolved Hide resolved
gazebo_ros/src/gazebo_ros_effort.cpp Outdated Show resolved Hide resolved
gazebo_ros/src/gazebo_ros_effort.cpp Outdated Show resolved Hide resolved
gazebo_ros/src/gazebo_ros_effort.cpp Outdated Show resolved Hide resolved
gazebo_ros/src/gazebo_ros_effort.cpp Outdated Show resolved Hide resolved
gazebo_ros/include/gazebo_ros/gazebo_ros_effort.hpp Outdated Show resolved Hide resolved
gazebo_ros/src/gazebo_ros_effort.cpp Outdated Show resolved Hide resolved

@chapulina chapulina merged commit 899a02e into ros-simulation:ros2 Aug 14, 2019

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