前言

不一定全面，未来还需要继续梳理
检索关键词：apply force time ros

1 在gazebo图形界面中进行操作

http://gazebosim.org/tutorials?tut=apply_force_torque&cat=tools_utilities

2 MATLAB

2.1 mathworks官网

https://www.mathworks.com/help/ros/ug/apply-forces-and-torques-in-gazebo.html

2.2 ROS与Matlab语言入门教程-在Gazebo中应用力和力矩

https://www.ncnynl.com/archives/201909/3314.html

3 ROS ANSWERS

3.1 applying variable body wrench

https://answers.ros.org/question/350700/applying-variable-body-wrench/

3.2 gazebo simulation with payload

https://answers.gazebosim.org/question/23749/gazebo-simulation-with-payload/

3.3 applying a force to a rigid body

https://answers.ros.org/question/11047/applying-a-force-to-a-rigid-body/

4 举个栗子

以turtlebot3为例，程序调用好之后

重新打开一个终端，参考上面的“3.2”输入

rosservice call /gazebo/apply_body_wrench "body_name: 'turtlebot3_burger::base_footprint'
reference_frame: 'turtlebot3_burger::base_footprint'
reference_point: {x: 0.0, y: 0.0, z: 0.0}
wrench:
  force: {x: 0.0, y: 1.0, z: 0.0}
  torque: {x: 0.0, y: 0.0, z: 0.0}
start_time: {secs: 0, nsecs: 0}
duration: {secs: 5, nsecs: 0}"

rosservice call /gazebo/apply_body_wrench "body_name: 'turtlebot3_burger::base_footprint'
reference_frame: 'world'
reference_point: {x: 0.0, y: 0.0, z: 0.0}
wrench:
  force: {x: 0.0, y: 0.0, z: 10.0}
  torque: {x: 0.0, y: 0.0, z: 0.0}
start_time: {secs: 0, nsecs: 0}
duration: {secs: 10, nsecs: 0}"

似乎duration里面的nsecs值设为-1的话，就是持续施加力了。

5 会出现的小问题

https://answers.ros.org/question/65077/errors-while-applying-force-on-a-model/