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On 01/28/2011 05:44 PM, John Hsu wrote:
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cite="mid:AANLkTinYj1WTV56nr0_sJtfrG2xMpoE3DB=PTsZ_Hbi9@mail.gmail.com"
type="cite"><br>
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<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt
0.8ex; border-left: 1px solid rgb(204, 204, 204);
padding-left: 1ex;"> Is my understanding correct?<br>
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<div><br>
</div>
<div>yes, the forces applied are cumulative. I've updated
the wiki to reflect so.</div>
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</blockquote>
Thank you.<br>
<blockquote
cite="mid:AANLkTinYj1WTV56nr0_sJtfrG2xMpoE3DB=PTsZ_Hbi9@mail.gmail.com"
type="cite">
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<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt
0.8ex; border-left: 1px solid rgb(204, 204, 204);
padding-left: 1ex;"> I tried to use
gazebo/clear_joint_forces instead of applying a -0.01<br>
effort, but it appears that clear_joint_forces is no
longer in ROS, even<br>
though it is in the Gazebo package documentation in the
ROS wiki.<br>
</blockquote>
<div><br>
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<div>which release are you running? I see the
clear_joint_forces service calls in both <a
moz-do-not-send="true"
href="https://code.ros.org/svn/ros-pkg/stacks/simulator_gazebo/tags/cturtle/gazebo/src/gazeboros.cpp">cturtle</a>
and <a moz-do-not-send="true"
href="https://code.ros.org/svn/ros-pkg/stacks/simulator_gazebo/tags/unstable/gazebo/src/gazeboros.cpp">unstable</a>(diamondback
alpha) files.</div>
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</blockquote>
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.<br>
"locate ClearJointForces" doesn't find anything, but "locate
ApplyJointEffort" shows:<br>
<br>
/opt/ros/cturtle/stacks/simulator_gazebo/gazebo/src/gazebo/srv/_ApplyJointEffort.py<br>
/opt/ros/cturtle/stacks/simulator_gazebo/gazebo/src/gazebo/srv/_ApplyJointEffort.pyc<br>
/opt/ros/cturtle/stacks/simulator_gazebo/gazebo/srv/ApplyJointEffort.srv<br>
/opt/ros/cturtle/stacks/simulator_gazebo/gazebo/srv/lisp/gazebo/.ApplyJointEffort.asd-dep<br>
/opt/ros/cturtle/stacks/simulator_gazebo/gazebo/srv/lisp/gazebo/ApplyJointEffort.lisp<br>
/opt/ros/cturtle/stacks/simulator_gazebo/gazebo/srv/lisp/gazebo/_package_ApplyJointEffort.lisp<br>
/opt/ros/cturtle/stacks/simulator_gazebo/gazebo/srv_gen/cpp/include/gazebo/ApplyJointEffort.h<br>
<br>
"ls /opt/ros/cturtle/stacks/simulator_gazebo/gazebo/srv" lists:<br>
<br>
ApplyBodyWrench.srv GetModelProperties.srv
SetLinkProperties.srv<br>
ApplyJointEffort.srv GetModelState.srv SetLinkState.srv<br>
BodyRequest.srv GetPhysicsProperties.srv
SetModelConfiguration.srv<br>
DeleteModel.srv GetWorldProperties.srv SetModelState.srv<br>
GetJointProperties.srv JointRequest.srv
SetPhysicsProperties.srv<br>
GetLinkProperties.srv lisp SpawnModel.srv<br>
GetLinkState.srv SetJointProperties.srv<br>
<br>
This works:<br>
<br>
rospy.wait_for_service("gazebo/apply_joint_effort")<br>
_apply_joint_effort =
rospy.ServiceProxy("gazebo/apply_joint_effort",
gazebo.srv.ApplyJointEffort)<br>
<br>
but this:<br>
<br>
rospy.wait_for_service("gazebo/clear_joint_forces")<br>
_clear_joint_forces =
rospy.ServiceProxy("gazebo/clear_joint_forces",
gazebo.srv.ClearJointForces)<br>
<br>
results in this:<br>
<br>
Traceback (most recent call last):<br>
File "truck.py", line 141, in <module><br>
gazebo.srv.ClearJointForces)<br>
AttributeError: 'module' object has no attribute 'ClearJointForces'<br>
<pre class="moz-signature" cols="72">--
Jim Rothrock | Wunderkammer Laboratory
<a class="moz-txt-link-abbreviated" href="mailto:jim.rothrock@wunderkammerlab.com">jim.rothrock@wunderkammerlab.com</a></pre>
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