[Personalrobots-commit] SF.net SVN: personalrobots:[2603] pkg/trunk

[<is...@us...>]

Revision: 2603
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=2603&view=rev
Author:   isucan
Date:     2008-08-05 23:38:59 +0000 (Tue, 05 Aug 2008)

Log Message:
-----------
more careful loading of robot models

Modified Paths:
--------------
    pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp
    pkg/trunk/world_models/world_3d_map/params.xml
    pkg/trunk/world_models/world_3d_map/src/world_3d_map.cpp

Modified: pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp
===================================================================
--- pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp	2008-08-05 23:30:34 UTC (rev 2602)
+++ pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp	2008-08-05 23:38:59 UTC (rev 2603)
@@ -154,15 +154,17 @@
 	printf("Loading robot descriptions...\n\n");
 	
 	std::string description_files;
-	get_param("robotdesc_list", description_files);
-	std::stringstream sdf(description_files);
-	while (sdf.good())
+	if (get_param("robotdesc_list", description_files))
 	{
-	    std::string file;
-	    std::string content;
-	    sdf >> file;
-	    get_param(file, content);
-	    addRobotDescriptionFromData(content.c_str());
+	    std::stringstream sdf(description_files);
+	    while (sdf.good())
+	    {
+		std::string file;
+		std::string content;
+		sdf >> file;
+		if (get_param(file, content))
+		    addRobotDescriptionFromData(content.c_str());
+	    }
 	}
 	printf("\n\n");	
     }

Modified: pkg/trunk/world_models/world_3d_map/params.xml
===================================================================
--- pkg/trunk/world_models/world_3d_map/params.xml	2008-08-05 23:30:34 UTC (rev 2602)
+++ pkg/trunk/world_models/world_3d_map/params.xml	2008-08-05 23:38:59 UTC (rev 2603)
@@ -2,5 +2,6 @@
   <double name="world_3d_map/max_publish_frequency">0.3</double> <!-- Hz -->
   <double name="world_3d_map/retain_pointcloud_duration">60</double> <!-- seconds -->
   <double name="world_3d_map/retain_pointcloud_fraction">0.02</double> <!-- percentage (between 0 and 1) -->
-  <int name="world_3d_map/verbosity_level">1</int> <!-- integer value -->
+  <int    name="world_3d_map/verbosity_level">1</int> <!-- integer value -->
+  <string name="world_3d_map/robot_model">robotdesc/pr2</string> <!-- string value -->
 </params>

Modified: pkg/trunk/world_models/world_3d_map/src/world_3d_map.cpp
===================================================================
--- pkg/trunk/world_models/world_3d_map/src/world_3d_map.cpp	2008-08-05 23:30:34 UTC (rev 2602)
+++ pkg/trunk/world_models/world_3d_map/src/world_3d_map.cpp	2008-08-05 23:38:59 UTC (rev 2603)
@@ -153,21 +153,13 @@
     
     void loadRobotDescriptions(void)
     {
-	printf("Loading robot descriptions...\n\n");
-	
-	std::string description_files;
-	get_param("robotdesc_list", description_files);
-	std::stringstream sdf(description_files);
-	while (sdf.good())
+	std::string model;
+	if (get_param("world_3d_map/robot_model", model))
 	{
-	    std::string file;
 	    std::string content;
-	    sdf >> file;
-	    printf("Loading '%s'\n", file.c_str());	    
-	    get_param(file, content);
-	    addRobotDescriptionFromData(content.c_str());
+	    if (get_param(model, content))
+		addRobotDescriptionFromData(content.c_str());
 	}
-	printf("\n\n");	
     }
     
     void addRobotDescriptionFromData(const char *data)


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