old_contents: #! /usr/bin/env python
  # Copyright (c) 2009, Willow Garage, Inc.
  # All rights reserved.
  #
  # Redistribution and use in source and binary forms, with or without
  # modification, are permitted provided that the following conditions are met:
  #
  #     * Redistributions of source code must retain the above copyright
  #       notice, this list of conditions and the following disclaimer.
  #     * Redistributions in binary form must reproduce the above copyright
  #       notice, this list of conditions and the following disclaimer in the
  #       documentation and/or other materials provided with the distribution.
  #     * Neither the name of the Willow Garage, Inc. nor the names of its
  #       contributors may be used to endorse or promote products derived from
  #       this software without specific prior written permission.
  #
  # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
  # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
  # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
  # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
  # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
  # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
  # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  # POSSIBILITY OF SUCH DAMAGE.
  
  # Author: Stuart Glaser
  
  import sys, time
  import roslib
  roslib.load_manifest('control_toolbox')
  
  import rospy
  import control_toolbox.srv
  
  def print_usage(exit_code = 0):
      print "Usage:  tune_pid.py <service> [<p> <i> <d> <i_clamp>]"
      sys.exit(exit_code)
  
  def main():
      if not (len(sys.argv) in [2, 6]):
          print_usage()
  
      if len(sys.argv) == 2:
          print "Not implemented yet"
      elif len(sys.argv) == 6:
          service_name = sys.argv[1]
          if not service_name.endswith('/set_gains'):
              service_name = service_name + '/set_gains'
          set_gains = rospy.ServiceProxy(service_name, control_toolbox.srv.SetPidGains)
          set_gains(*map(float, sys.argv[2:6]))
  
  if __name__ == '__main__': main()
  
new_contents: #! /usr/bin/env python
  # Copyright (c) 2009, Willow Garage, Inc.
  # All rights reserved.
  #
  # Redistribution and use in source and binary forms, with or without
  # modification, are permitted provided that the following conditions are met:
  #
  #     * Redistributions of source code must retain the above copyright
  #       notice, this list of conditions and the following disclaimer.
  #     * Redistributions in binary form must reproduce the above copyright
  #       notice, this list of conditions and the following disclaimer in the
  #       documentation and/or other materials provided with the distribution.
  #     * Neither the name of the Willow Garage, Inc. nor the names of its
  #       contributors may be used to endorse or promote products derived from
  #       this software without specific prior written permission.
  #
  # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
  # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
  # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
  # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
  # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
  # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
  # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  # POSSIBILITY OF SUCH DAMAGE.
  
  # Author: Stuart Glaser
  
  import sys, time
  
  import rospy
  import control_toolbox.srv
  
  def print_usage(exit_code = 0):
      print "Usage:  tune_pid.py <service> [<p> <i> <d> <i_clamp>]"
      sys.exit(exit_code)
  
  def main():
      if not (len(sys.argv) in [2, 6]):
          print_usage()
  
      if len(sys.argv) == 2:
          print "Not implemented yet"
      elif len(sys.argv) == 6:
          service_name = sys.argv[1]
          if not service_name.endswith('/set_gains'):
              service_name = service_name + '/set_gains'
          set_gains = rospy.ServiceProxy(service_name, control_toolbox.srv.SetPidGains)
          set_gains(*map(float, sys.argv[2:6]))
  
  if __name__ == '__main__': main()
  
subject: Add executable flag