[Personalrobots-commit] SF.net SVN: personalrobots: [963] pkg/trunk

[<hsu...@us...>]

Revision: 963
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=963&view=rev
Author:   hsujohnhsu
Date:     2008-06-24 23:39:30 -0700 (Tue, 24 Jun 2008)

Log Message:
-----------
removed pr2HW dependence from gazebo_plugin.
typo fix in setup.bash for rosgazebo.
call hw.Init() in pr2API.

Modified Paths:
--------------
    pkg/trunk/drivers/robot/pr2/libpr2API/src/pr2API.cpp
    pkg/trunk/simulators/gazebo_plugin/Makefile
    pkg/trunk/simulators/gazebo_plugin/include/gazebo_plugin/Pr2_Actarray.hh
    pkg/trunk/simulators/gazebo_plugin/manifest.xml
    pkg/trunk/simulators/rosgazebo/setup.bash

Modified: pkg/trunk/drivers/robot/pr2/libpr2API/src/pr2API.cpp
===================================================================
--- pkg/trunk/drivers/robot/pr2/libpr2API/src/pr2API.cpp	2008-06-25 05:20:01 UTC (rev 962)
+++ pkg/trunk/drivers/robot/pr2/libpr2API/src/pr2API.cpp	2008-06-25 06:39:30 UTC (rev 963)
@@ -14,6 +14,8 @@
 
 PR2_ERROR_CODE PR2Robot::InitializeRobot()
 {
+  // initialize robot
+  hw.Init();
   return PR2_ALL_OK;
 }
 

Modified: pkg/trunk/simulators/gazebo_plugin/Makefile
===================================================================
--- pkg/trunk/simulators/gazebo_plugin/Makefile	2008-06-25 05:20:01 UTC (rev 962)
+++ pkg/trunk/simulators/gazebo_plugin/Makefile	2008-06-25 06:39:30 UTC (rev 963)
@@ -8,7 +8,6 @@
 LDFLAGS = $(shell rospack export/cpp/lflags gazebo) \
           $(shell rospack export/cpp/lflags pr2Core) \
           $(shell rospack export/cpp/lflags controllers) \
-          $(shell rospack export/cpp/lflags libpr2HW) \
           $(shell rospack export/cpp/lflags newmat10)
 
 LIB_ACT = lib/libPr2_Actarray.a

Modified: pkg/trunk/simulators/gazebo_plugin/include/gazebo_plugin/Pr2_Actarray.hh
===================================================================
--- pkg/trunk/simulators/gazebo_plugin/include/gazebo_plugin/Pr2_Actarray.hh	2008-06-25 05:20:01 UTC (rev 962)
+++ pkg/trunk/simulators/gazebo_plugin/include/gazebo_plugin/Pr2_Actarray.hh	2008-06-25 06:39:30 UTC (rev 963)
@@ -34,9 +34,6 @@
 #include <vector>
 #include <controllers/Pid.h>
 
-// actuator class, this should have identical calls for SIM and HW
-#include <libpr2HW/pr2HW.h>
-
 namespace gazebo
 {
    class HingeJoint;

Modified: pkg/trunk/simulators/gazebo_plugin/manifest.xml
===================================================================
--- pkg/trunk/simulators/gazebo_plugin/manifest.xml	2008-06-25 05:20:01 UTC (rev 962)
+++ pkg/trunk/simulators/gazebo_plugin/manifest.xml	2008-06-25 06:39:30 UTC (rev 963)
@@ -12,7 +12,6 @@
 <depend package="pr2Core"/>
 <depend package="newmat10"/>
 <depend package="controllers"/>
-<depend package="libpr2HW"/>
 <export>
 <cpp cflags="-I${prefix}/include" lflags="-L${prefix}/lib -lPr2_Actarray -lPr2_Gripper -lP3D"/>
 </export>

Modified: pkg/trunk/simulators/rosgazebo/setup.bash
===================================================================
--- pkg/trunk/simulators/rosgazebo/setup.bash	2008-06-25 05:20:01 UTC (rev 962)
+++ pkg/trunk/simulators/rosgazebo/setup.bash	2008-06-25 06:39:30 UTC (rev 963)
@@ -2,7 +2,7 @@
 export SIM_TOP=`rospack find gazebo`/gazebo-git
 export SIM_PLUGIN=`rospack find gazebo_plugin`
 export PR2API=`rospack find libpr2API`
-export PR2HW=`rospack find libprHW`
+export PR2HW=`rospack find libpr2HW`
 
 export LD_LIBRARY_PATH=$PR2API/lib:$LD_LIBRARY_PATH
 export LD_LIBRARY_PATH=$PR2HW/lib:$LD_LIBRARY_PATH


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