/Canfield

Files relating to the ROS implementation of the Canfield joint.

Primary LanguageC++

Canfield

Files relating to the ROS implementation of the Canfield joint.

Launch Gazebo

roslaunch gazebo_ros empty_world.launch

Set Gravity to Zero

rosservice call / gazebo / set_physics_properties 0.001 1000.0 ’ [0.0 , 0.0 , 0.0] ’ ’[False , 0, 50, 1.3 , 0.0 , 0.001 , 100.0 , 0.0 , 0.2 , 20] ’

Set Gravity to Normal

rosservice call / gazebo / set_physics_properties 0.001 1000.0 ’ [0.0 , 0.0 , 0.0] ’ ’[False , 0, 50, 1.3 , 0.0 , 0.001 , 100.0 , 0.0 , 0.2 , 20] ’

Spawn Model

cd ~/ catkin_ws / src/ Canfield rosrun gazebo_ros spawn_model -file canfield .sdf -sdf -x 0 -y 0 -z 1 -model Canfield

Perturb Model from Command Line

rosservice call / gazebo / apply_joint_effort joint1 -- 10000 0 1000000