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[Personalrobots-commit] SF.net SVN: personalrobots:[2008] pkg/trunk
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From: <is...@us...> - 2008-07-23 23:15:49
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Revision: 2008
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=2008&view=rev
Author: isucan
Date: 2008-07-23 23:15:56 +0000 (Wed, 23 Jul 2008)
Log Message:
-----------
added robot and pr2 messages and servers. more from std_srvs and std_msgs should follow
Modified Paths:
--------------
pkg/trunk/motion_planning/kinematic_planning/manifest.xml
pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp
pkg/trunk/motion_planning/sbl_pr2arm_mpk/src/Makefile
Added Paths:
-----------
pkg/trunk/messages/
pkg/trunk/messages/pr2_msgs/
pkg/trunk/messages/pr2_msgs/Makefile
pkg/trunk/messages/pr2_msgs/manifest.xml
pkg/trunk/messages/pr2_msgs/msg/
pkg/trunk/messages/robot_msgs/
pkg/trunk/messages/robot_msgs/Makefile
pkg/trunk/messages/robot_msgs/manifest.xml
pkg/trunk/messages/robot_msgs/msg/
pkg/trunk/messages/robot_msgs/msg/KinematicPath.msg
pkg/trunk/messages/robot_msgs/msg/KinematicState.msg
pkg/trunk/services/
pkg/trunk/services/pr2_srvs/
pkg/trunk/services/pr2_srvs/Makefile
pkg/trunk/services/pr2_srvs/manifest.xml
pkg/trunk/services/pr2_srvs/srv/
pkg/trunk/services/robot_srvs/
pkg/trunk/services/robot_srvs/Makefile
pkg/trunk/services/robot_srvs/manifest.xml
pkg/trunk/services/robot_srvs/srv/
pkg/trunk/services/robot_srvs/srv/KinematicMotionPlan.srv
Added: pkg/trunk/messages/pr2_msgs/Makefile
===================================================================
--- pkg/trunk/messages/pr2_msgs/Makefile (rev 0)
+++ pkg/trunk/messages/pr2_msgs/Makefile 2008-07-23 23:15:56 UTC (rev 2008)
@@ -0,0 +1,4 @@
+all: gen_msgs
+clean: clean_msgs
+ -rm -rf src/std_msgs
+include $(shell rospack find mk)/msg.mk
Added: pkg/trunk/messages/pr2_msgs/manifest.xml
===================================================================
--- pkg/trunk/messages/pr2_msgs/manifest.xml (rev 0)
+++ pkg/trunk/messages/pr2_msgs/manifest.xml 2008-07-23 23:15:56 UTC (rev 2008)
@@ -0,0 +1,16 @@
+<package>
+ <description brief="Common ROS Messages">
+
+ Messages that are specific to PR2
+
+ </description>
+ <author>Morgan Quigley/mqu...@cs..., Ken Conley/kw...@wi...</author>
+ <license>BSD</license>
+ <url>http://pr.willowgarage.com/wiki/std_msgs</url>
+ <logo>http://www.willowgarage.com/files/willowgarage/robot10.jpg</logo>
+ <depend package="robot_msgs"/>
+ <export>
+ <cpp cflags="-I${prefix}/msg/cpp"/>
+ </export>
+</package>
+
Added: pkg/trunk/messages/robot_msgs/Makefile
===================================================================
--- pkg/trunk/messages/robot_msgs/Makefile (rev 0)
+++ pkg/trunk/messages/robot_msgs/Makefile 2008-07-23 23:15:56 UTC (rev 2008)
@@ -0,0 +1,4 @@
+all: gen_msgs
+clean: clean_msgs
+ -rm -rf src/std_msgs
+include $(shell rospack find mk)/msg.mk
Added: pkg/trunk/messages/robot_msgs/manifest.xml
===================================================================
--- pkg/trunk/messages/robot_msgs/manifest.xml (rev 0)
+++ pkg/trunk/messages/robot_msgs/manifest.xml 2008-07-23 23:15:56 UTC (rev 2008)
@@ -0,0 +1,16 @@
+<package>
+ <description brief="Common ROS Messages">
+
+ Service definitions that are common for different robots
+
+ </description>
+ <author>Morgan Quigley/mqu...@cs..., Ken Conley/kw...@wi...</author>
+ <license>BSD</license>
+ <url>http://pr.willowgarage.com/wiki/std_msgs</url>
+ <logo>http://www.willowgarage.com/files/willowgarage/robot10.jpg</logo>
+ <depend package="std_msgs"/>
+ <export>
+ <cpp cflags="-I${prefix}/msg/cpp"/>
+ </export>
+</package>
+
Added: pkg/trunk/messages/robot_msgs/msg/KinematicPath.msg
===================================================================
--- pkg/trunk/messages/robot_msgs/msg/KinematicPath.msg (rev 0)
+++ pkg/trunk/messages/robot_msgs/msg/KinematicPath.msg 2008-07-23 23:15:56 UTC (rev 2008)
@@ -0,0 +1 @@
+KinematicState[] states
Added: pkg/trunk/messages/robot_msgs/msg/KinematicState.msg
===================================================================
--- pkg/trunk/messages/robot_msgs/msg/KinematicState.msg (rev 0)
+++ pkg/trunk/messages/robot_msgs/msg/KinematicState.msg 2008-07-23 23:15:56 UTC (rev 2008)
@@ -0,0 +1 @@
+float64[] vals
Modified: pkg/trunk/motion_planning/kinematic_planning/manifest.xml
===================================================================
--- pkg/trunk/motion_planning/kinematic_planning/manifest.xml 2008-07-23 23:11:16 UTC (rev 2007)
+++ pkg/trunk/motion_planning/kinematic_planning/manifest.xml 2008-07-23 23:15:56 UTC (rev 2008)
@@ -3,8 +3,8 @@
<author>Ioan A. Sucan</author>
<license>BSD</license>
<depend package="roscpp" />
- <depend package="std_msgs" />
- <depend package="std_srvs" />
+ <depend package="robot_msgs" />
+ <depend package="robot_srvs" />
<depend package="xmlparam" />
<depend package="ompl" />
<depend package="collision_space" />
Modified: pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp
===================================================================
--- pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp 2008-07-23 23:11:16 UTC (rev 2007)
+++ pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp 2008-07-23 23:15:56 UTC (rev 2008)
@@ -83,8 +83,8 @@
#include <ros/node.h>
#include <std_msgs/PointCloudFloat32.h>
-#include <std_msgs/KinematicPath.h>
-#include <std_srvs/KinematicMotionPlan.h>
+#include <robot_msgs/KinematicPath.h>
+#include <robot_srvs/KinematicMotionPlan.h>
#include <urdf/URDF.h>
#include <collision_space/environmentODE.h>
@@ -155,7 +155,7 @@
}
- bool plan(std_srvs::KinematicMotionPlan::request &req, std_srvs::KinematicMotionPlan::response &res)
+ bool plan(robot_srvs::KinematicMotionPlan::request &req, robot_srvs::KinematicMotionPlan::response &res)
{
Model *m = m_models[req.model_id];
Planner &p = m->planners[0];
@@ -163,11 +163,11 @@
const int dim = req.start_state.vals_size;
if ((int)p.si->getStateDimension() != dim)
return false;
- /*
+
libTF::Pose3D &tf = m->collisionSpace->models[m->collisionSpaceID]->rootTransform;
tf.setPosition(req.transform.xt, req.transform.yt, req.transform.zt);
tf.setQuaternion(req.transform.xr, req.transform.yr, req.transform.zr, req.transform.w);
- */
+
// set the 3D space bounding box for planning.
// if not specified in the request, infer it based on start + goal positions
@@ -188,10 +188,10 @@
goal->state->values[i] = req.goal_state.vals[i];
p.si->setGoal(goal);
- // bool ok = p.mp->solve(req.allowed_time);
+ bool ok = p.mp->solve(req.allowed_time);
/* copy the solution to the result */
- // if (ok)
+ if (ok)
{
ompl::SpaceInformationKinematic::PathKinematic_t path = static_cast<ompl::SpaceInformationKinematic::PathKinematic_t>(goal->getSolutionPath());
res.path.set_states_size(path->states.size());
@@ -258,7 +258,7 @@
struct Planner
{
- ompl::MotionPlanner_t mp;
+ ompl::Planner_t mp;
ompl::SpaceInformationKinematic_t si;
int type;
};
Modified: pkg/trunk/motion_planning/sbl_pr2arm_mpk/src/Makefile
===================================================================
--- pkg/trunk/motion_planning/sbl_pr2arm_mpk/src/Makefile 2008-07-23 23:11:16 UTC (rev 2007)
+++ pkg/trunk/motion_planning/sbl_pr2arm_mpk/src/Makefile 2008-07-23 23:15:56 UTC (rev 2008)
@@ -1,4 +1,4 @@
SRC = kinematic_planning.cpp
OUT = ../bin/kinematic_planning
-PKG = kinematic_planning
+PKG = sbl_pr2arm_mpk
include $(shell rospack find mk)/node.mk
Added: pkg/trunk/services/pr2_srvs/Makefile
===================================================================
--- pkg/trunk/services/pr2_srvs/Makefile (rev 0)
+++ pkg/trunk/services/pr2_srvs/Makefile 2008-07-23 23:15:56 UTC (rev 2008)
@@ -0,0 +1,4 @@
+all:
+ `rospack find rostools`/scripts/gensrv srv/*.srv
+clean:
+ -rm -rf srv/cpp src/std_srvs
Added: pkg/trunk/services/pr2_srvs/manifest.xml
===================================================================
--- pkg/trunk/services/pr2_srvs/manifest.xml (rev 0)
+++ pkg/trunk/services/pr2_srvs/manifest.xml 2008-07-23 23:15:56 UTC (rev 2008)
@@ -0,0 +1,16 @@
+<package>
+ <description brief="Common ROS Services">
+
+ Service definitions that are specific to PR2
+
+ </description>
+ <author>Morgan Quigley/mqu...@cs...</author>
+ <license>BSD</license>
+ <url>http://pr.willowgarage.com/wiki/std_srvs</url>
+ <logo>http://www.willowgarage.com/files/willowgarage/robot10.jpg</logo>
+ <depend package="robot_srvs"/>
+ <export>
+ <cpp cflags="-I${prefix}/srv/cpp"/>
+ </export>
+</package>
+
Added: pkg/trunk/services/robot_srvs/Makefile
===================================================================
--- pkg/trunk/services/robot_srvs/Makefile (rev 0)
+++ pkg/trunk/services/robot_srvs/Makefile 2008-07-23 23:15:56 UTC (rev 2008)
@@ -0,0 +1,4 @@
+all:
+ `rospack find rostools`/scripts/gensrv srv/*.srv
+clean:
+ -rm -rf srv/cpp src/std_srvs
Added: pkg/trunk/services/robot_srvs/manifest.xml
===================================================================
--- pkg/trunk/services/robot_srvs/manifest.xml (rev 0)
+++ pkg/trunk/services/robot_srvs/manifest.xml 2008-07-23 23:15:56 UTC (rev 2008)
@@ -0,0 +1,16 @@
+<package>
+ <description brief="Common ROS Services">
+
+ Service definitions that are common for different robots
+
+ </description>
+ <author>Morgan Quigley/mqu...@cs...</author>
+ <license>BSD</license>
+ <url>http://pr.willowgarage.com/wiki/std_srvs</url>
+ <logo>http://www.willowgarage.com/files/willowgarage/robot10.jpg</logo>
+ <depend package="std_srvs"/>
+ <export>
+ <cpp cflags="-I${prefix}/srv/cpp"/>
+ </export>
+</package>
+
Added: pkg/trunk/services/robot_srvs/srv/KinematicMotionPlan.srv
===================================================================
--- pkg/trunk/services/robot_srvs/srv/KinematicMotionPlan.srv (rev 0)
+++ pkg/trunk/services/robot_srvs/srv/KinematicMotionPlan.srv 2008-07-23 23:15:56 UTC (rev 2008)
@@ -0,0 +1,8 @@
+string model_id
+robot_msgs/KinematicState start_state
+robot_msgs/KinematicState goal_state
+float64 allowed_time
+std_msgs/TransformQuaternion transform
+std_msgs/Point3DFloat64 volume
+---
+robot_msgs/KinematicPath path
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