[Personalrobots-commit] SF.net SVN: personalrobots:[3025] pkg/trunk

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Revision: 3025
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=3025&view=rev
Author:   isucan
Date:     2008-08-13 23:48:51 +0000 (Wed, 13 Aug 2008)

Log Message:
-----------
updated some documentation

Modified Paths:
--------------
    pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp
    pkg/trunk/motion_planning/planning_node_util/include/planning_node_util/cnode.h
    pkg/trunk/motion_planning/planning_node_util/include/planning_node_util/knode.h
    pkg/trunk/motion_planning/planning_world_viewer/src/planning_world_viewer.cpp
    pkg/trunk/robot_descriptions/wg_robot_description/send.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	2008-08-13 23:40:48 UTC (rev 3024)
+++ pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp	2008-08-13 23:48:51 UTC (rev 3025)
@@ -36,7 +36,7 @@
 
 @mainpage
 
-@htmlinclude manifest.html
+@htmlinclude ../manifest.html
 
 @b KinematicPlanning is a node capable of planning kinematic paths for
 a set of robot models.
@@ -45,13 +45,13 @@
 
 @section usage Usage
 @verbatim
-$ kinematic_planning [standard ROS args]
+$ kinematic_planning robot_model [standard ROS args]
 @endverbatim
 
 @par Example
 
 @verbatim
-$ kinematic_planning
+$ kinematic_planning robotdesc/pr2
 @endverbatim
 
 <hr>
@@ -59,7 +59,7 @@
 @section topic ROS topics
 
 Subscribes to (name/type):
-- @b world_3d_map/PointCloudFloat32 : point cloud with data describing the 3D environment
+- None
 
 Publishes to (name/type):
 - None

Modified: pkg/trunk/motion_planning/planning_node_util/include/planning_node_util/cnode.h
===================================================================
--- pkg/trunk/motion_planning/planning_node_util/include/planning_node_util/cnode.h	2008-08-13 23:40:48 UTC (rev 3024)
+++ pkg/trunk/motion_planning/planning_node_util/include/planning_node_util/cnode.h	2008-08-13 23:48:51 UTC (rev 3025)
@@ -32,6 +32,42 @@
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
+/**
+
+@mainpage
+
+@htmlinclude ../../manifest.html
+
+@b NodeWithODECollisionModel is a ROS node that in addition to being aware of a robot model,
+is also aware of an ODE collision space
+
+<hr>
+
+@section topic ROS topics
+
+Subscribes to (name/type):
+- @b world_3d_map/PointCloudFloat32 : point cloud with data describing the 3D environment
+
+Publishes to (name/type):
+- None
+
+<hr>
+
+@section services ROS services
+
+Uses (name/type):
+- None
+
+Provides (name/type):
+- None
+
+<hr>
+
+@section parameters ROS parameters
+- None
+
+**/
+
 #include <planning_node_util/knode.h>
 #include <std_msgs/PointCloudFloat32.h>
 #include <collision_space/environmentODE.h>

Modified: pkg/trunk/motion_planning/planning_node_util/include/planning_node_util/knode.h
===================================================================
--- pkg/trunk/motion_planning/planning_node_util/include/planning_node_util/knode.h	2008-08-13 23:40:48 UTC (rev 3024)
+++ pkg/trunk/motion_planning/planning_node_util/include/planning_node_util/knode.h	2008-08-13 23:48:51 UTC (rev 3025)
@@ -32,6 +32,41 @@
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
+/**
+
+@mainpage
+
+@htmlinclude ../../manifest.html
+
+@b NodeWithRobotModel is a ROS node that is also aware of a given robot model
+
+<hr>
+
+@section topic ROS topics
+
+Subscribes to (name/type):
+- @b localizedpose/RobotBase2DOdom : localized position of the robot base
+
+Publishes to (name/type):
+- None
+
+<hr>
+
+@section services ROS services
+
+Uses (name/type):
+- None
+
+Provides (name/type):
+- None
+
+<hr>
+
+@section parameters ROS parameters
+- None
+
+**/
+
 #include <ros/node.h>
 #include <ros/time.h>
 #include <urdf/URDF.h>

Modified: pkg/trunk/motion_planning/planning_world_viewer/src/planning_world_viewer.cpp
===================================================================
--- pkg/trunk/motion_planning/planning_world_viewer/src/planning_world_viewer.cpp	2008-08-13 23:40:48 UTC (rev 3024)
+++ pkg/trunk/motion_planning/planning_world_viewer/src/planning_world_viewer.cpp	2008-08-13 23:48:51 UTC (rev 3025)
@@ -36,7 +36,7 @@
 
 @mainpage
 
-@htmlinclude manifest.html
+@htmlinclude ../manifest.html
 
 @b PlanningWorldViewer is a node capable of displaying the state of the world 
 the motion planner sees
@@ -45,13 +45,13 @@
 
 @section usage Usage
 @verbatim
-$ planning_world_viewer [standard ROS args]
+$ planning_world_viewer robot_model [standard ROS args]
 @endverbatim
 
 @par Example
 
 @verbatim
-$ planning_world_viewer
+$ planning_world_viewer robotdesc/pr2
 @endverbatim
 
 <hr>
@@ -59,7 +59,7 @@
 @section topic ROS topics
 
 Subscribes to (name/type):
-- @b world_3d_map/PointCloudFloat32 : point cloud with data describing the 3D environment
+- None
 
 Publishes to (name/type):
 - None

Modified: pkg/trunk/robot_descriptions/wg_robot_description/send.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/send.xml	2008-08-13 23:40:48 UTC (rev 3024)
+++ pkg/trunk/robot_descriptions/wg_robot_description/send.xml	2008-08-13 23:48:51 UTC (rev 3025)
@@ -1,6 +1,5 @@
 <launch>
 
-  <param name="robotdesc_list" value="robotdesc/pr2" />
   <param name="robotdesc/pr2" command="$(find wg_robot_description_parser)/merge &quot;$(find wg_robot_description)/pr2/pr2.xml&quot;" />
   
 </launch>

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	2008-08-13 23:40:48 UTC (rev 3024)
+++ pkg/trunk/world_models/world_3d_map/src/world_3d_map.cpp	2008-08-13 23:48:51 UTC (rev 3025)
@@ -36,7 +36,7 @@
 
 @mainpage
 
-@htmlinclude manifest.html
+@htmlinclude ../manifest.html
 
 @b world_3d_map is a node capable of building 3D maps out of laser
 scan data.  The node will put together a pointcloud in the FRAMEID_MAP
@@ -57,7 +57,7 @@
 @par Example
 
 @verbatim
-$ world_3d_map
+$ world_3d_map robotdesc/pr2 scan:=tilt_scan
 @endverbatim
 
 @par Notes
@@ -73,7 +73,6 @@
 
 Subscribes to (name/type):
 - @b scan/LaserScan : scan data received from a laser
-- @b robotpose/RobotBase2DOdom : position of the robot base
 
 Publishes to (name/type):
 - @b "world_3d_map"/PointCloudFloat32 : point cloud describing the 3D environment


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