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eurobench_simulated_pendulum

ROS node to simulate the effect of a pendulum mass hitting a robot from a certain angle.

Instructions:

  • Installation: After cloned just run a catkin_make on your catkin environment.
  • Usage: To execute the node jst run: rosrun eurobench_simulated_pendulum eurobench_simulated_pendulum_node

How it Works:

The eurobench_simulated_pendulum open a service called /eurobench_simulated_pendulum_node/apply_body_force which accepts the service defined in EuroBenchPendulum.srv with:

  • the pendulum mass
  • the pendulum length
  • the angle w.r.t. the vertical
  • the angle on the horizontal plane (if 0.0 the pendulum hits the robot on the x coordinates)
  • the time of the impact
  • the body name where the force is applied

The node makes use of the service /gazebo/apply_body_wrench.