[ros2] Port apply/clear wrench and effort services

[shiveshkhaitan]

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]

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?

[Pratham-Pandey]

• What do i need to include to use "apply_body_wrench"? '/apply_link_wrench' is available but 'apply_body_wrench' is not.
• Also what is the difference between them?
• Where can i find example usage?
  Thanks