Python ApplyJointEffort.ApplyJointEffort Examples

Example #1

def setRot(pub, msg):
    global speed
    d = msg
    buff = ApplyJointEffort()

    start_time = rospy.Time(0, 0)
    end_time = rospy.Time(0.01, 0)

    if (d == "s"):
        pub("dd_robot::left_wheel_hinge", 1 * speed, start_time, end_time)
        pub("dd_robot::right_wheel_hinge", 1 * speed, start_time, end_time)

        #pub("dd_robot::left_wheel_hinge", -1 * speed, start_time, end_time)
        #pub("dd_robot::right_wheel_hinge",  -1 * speed, start_time, end_time)
    elif (d == "w"):
        pub("dd_robot::left_wheel_hinge", -1 * speed, start_time, end_time)
        pub("dd_robot::right_wheel_hinge", -1 * speed, start_time, end_time)

        #pub("dd_robot::left_wheel_hinge", 1 * speed, start_time, end_time)
        #pub("dd_robot::right_wheel_hinge",  1 * speed, start_time, end_time)
    elif (d == "d"):
        pub("dd_robot::left_wheel_hinge", 1 * turn, start_time, end_time)
        pub("dd_robot::right_wheel_hinge", -1 * turn, start_time, end_time)

        #pub("dd_robot::left_wheel_hinge", -1 * speed, start_time, end_time)
        #pub("dd_robot::right_wheel_hinge",  1 * speed, start_time, end_time)
    elif (d == "a"):
        pub("dd_robot::left_wheel_hinge", -1 * turn, start_time, end_time)
        pub("dd_robot::right_wheel_hinge", 1 * turn, start_time, end_time)

        #pub("dd_robot::left_wheel_hinge", 1 * speed, start_time, end_time)
        #pub("dd_robot::right_wheel_hinge",  -1 * speed, start_time, end_time)
    else:
        pass

Example #2

File: ctrlJoint.py Project: Haiethan1/Robot_API

def talker():
#    pub = rospy.Publisher('/gazebo/apply_joint_effort', ApplyJointEffort, queue_size=10)
    rospy.init_node('dd_ctrl', anonymous=True)
    pub = rospy.ServiceProxy('/gazebo/apply_joint_effort',ApplyJointEffort)
    rate = rospy.Rate(10) # 10hz
    i = 0
    buff = ApplyJointEffort()
    buff.joint_name = "dd_robot::left_wheel_hinge"
    buff.effort = 1.0
    buff.start_time = 0.0
    buff.duration = 0.0
    start_time = rospy.Time(0,0)
    end_time = rospy.Time(0.01,0)
    while not rospy.is_shutdown():
        if i > 30:
            buff.effort = -buff.effort
            i = 0
        i = i + 1


        # ['joint_name', 'effort', 'start_time', 'duration']
        #pub( buff.joint_name, buff.effort, buff.start_time, buff.duration )
        #pub( buff.joint_name, buff.effort, 0.0, 0.1 )
        buff.joint_name = "dd_robot::left_wheel_hinge"
        pub(buff.joint_name, buff.effort, start_time, end_time)
        buff.joint_name = "dd_robot::right_wheel_hinge"
        pub(buff.joint_name, buff.effort, start_time, end_time)
        rospy.loginfo(buff)
        rate.sleep()

Example #3

File: ctrl_joint_h.py Project: Haiethan1/Robot_API

def setLeft(pub, val):
    buff = ApplyJointEffort()
    buff.effort = val

    start_time = rospy.Time(0, 0)
    end_time = rospy.Time(0.01, 0)

    buff.joint_name = "dd_robot::left_wheel_hinge"
    pub(buff.joint_name, buff.effort, start_time, end_time)

Example #4

File: ctrl.py Project: danslovich/Models

def setRotation(pub, val):
    start_t = rospy.Time(0, 0)
    end_t = rospy.Time(0.01, 0)
    buff = ApplyJointEffort()
    buff.effort = val

    buff.joint_name = 'dd_robot::left_wheel_hinge'
    pub(buff.joint_name, -buff.effort, start_t, end_t)
    buff.joint_name = 'dd_robot::right_wheel_hinge'
    pub(buff.joint_name, buff.effort, start_t, end_t)

Example #5

File: rbtcontrol.py Project: andychen5676/Chen-ece370FA20

def setRot(pub, val):
    buff = ApplyJointEffort()
    buff.effort = val * 10

    start_time = rospy.Time(0, 0)
    end_time = rospy.Time(0.01, 0)

    buff.joint_name = "cc_robot::left_wheel_hinge"
    pub(buff.joint_name, buff.effort, start_time, end_time)
    buff.joint_name = "cc_robot::right_wheel_hinge"
    pub(buff.joint_name, -buff.effort, start_time, end_time)

Example #6

File: ctrl_joint_h.py Project: zfrabutt/API_DD

def setRot(pub, val, direction):
    buff = ApplyJointEffort()
    buff.effort = val

    start_time = rospy.Time(0, 0)
    end_time = rospy.Time(0.01, 0)
    if direction == "l":
        buff.joint_name = "dd_robot::left_wheel_hinge"
        pub(buff.joint_name, buff.effort, start_time, end_time)
    if direction == "r":
        buff.joint_name = "dd_robot::right_wheel_hinge"
        pub(buff.joint_name, -buff.effort, start_time, end_time)

Example #7

def move():
    rospy.init_node('swing')
    value = ApplyJointEffort()
    count = 0
    while not rospy.is_shutdown():

        value.joint_name = 'joint1'

        if count % 2 == 0:
            value.effort = 10
            value.start_time = rospy.Time(0)
            value.duration = rospy.Time(1)
        else:
            value.effort = 0
            value.start_time = rospy.Time(0)
            value.duration = rospy.Time(1)
        rospy.wait_for_service('/gazebo/apply_joint_effort')
        JointEffort = rospy.ServiceProxy('/gazebo/apply_joint_effort',
                                         ApplyJointEffort)
        resp1 = JointEffort('joint1', value.effort, value.start_time,
                            value.duration)
        rospy.sleep(2.5)

Example #8

File: example.py Project: Haiethan1/Robot_API

#!/usr/bin/env python3
import rospy
from gazebo_msgs.srv import ApplyJointEffort

msg_topic = '/gazebo/apply_joint_effort'
joint_left = 'dd_roobot::left_wheel_hinge'
joint_right = 'dd_roobot::right_wheel_hinge'

msg_topic_feedabck = '/gazebo/get_joint_properties'

rospy.init_node('dd_ctrl', anonymous=True)
pub = rospy.ServiceProxy(msg_topic, ApplyJointEffort)

pub_feedback = ApplyJointEffort()
effort = 1.0
start_time = rospy.Time(0,0)

f = 0.5
T = 1/f
end_time = rospy.Time(1,0)
rate = rospy.Rate(f)

while True:
    effort = -effort
    pub(joint_left, effort, start_time, end_time)
    val = pub_feedback(joint_left)
    print(val.rate)
    rate.sleep()