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[Personalrobots-commit] SF.net SVN: personalrobots:[3103] pkg/trunk
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From: <hsu...@us...> - 2008-08-15 00:11:35
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Revision: 3103
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=3103&view=rev
Author: hsujohnhsu
Date: 2008-08-15 00:11:44 +0000 (Fri, 15 Aug 2008)
Log Message:
-----------
updated to new gazebo.
ros camera get vfov function is not working in current gazebo, will find out why, non critical.
Modified Paths:
--------------
pkg/trunk/3rdparty/gazebo/Makefile
pkg/trunk/3rdparty/gazebo/gazebo_patch.diff
pkg/trunk/drivers/simulator/gazebo_plugin/src/Ros_Camera.cc
Modified: pkg/trunk/3rdparty/gazebo/Makefile
===================================================================
--- pkg/trunk/3rdparty/gazebo/Makefile 2008-08-15 00:09:45 UTC (rev 3102)
+++ pkg/trunk/3rdparty/gazebo/Makefile 2008-08-15 00:11:44 UTC (rev 3103)
@@ -2,7 +2,7 @@
SVN_DIR = gazebo-svn
SVN_URL = https://playerstage.svn.sourceforge.net/svnroot/playerstage/code/gazebo/trunk
-SVN_REVISION = -r 6915 #revision with wall extrusion working, Ogre camera save frame (TP)
+SVN_REVISION = -r 6952 #more updates on geometry creation
SVN_PATCH = gazebo_patch.diff
include $(shell rospack find mk)/svn_checkout.mk
Modified: pkg/trunk/3rdparty/gazebo/gazebo_patch.diff
===================================================================
--- pkg/trunk/3rdparty/gazebo/gazebo_patch.diff 2008-08-15 00:09:45 UTC (rev 3102)
+++ pkg/trunk/3rdparty/gazebo/gazebo_patch.diff 2008-08-15 00:11:44 UTC (rev 3103)
@@ -1,6 +1,6 @@
Index: player/SConscript
===================================================================
---- player/SConscript (revision 6915)
+--- player/SConscript (revision 6952)
+++ player/SConscript (working copy)
@@ -1,7 +1,8 @@
import os
@@ -14,7 +14,7 @@
'GazeboClient.cc',
Index: libgazebo/Server.cc
===================================================================
---- libgazebo/Server.cc (revision 6915)
+--- libgazebo/Server.cc (revision 6952)
+++ libgazebo/Server.cc (working copy)
@@ -38,6 +38,7 @@
#include <sys/sem.h>
@@ -103,7 +103,7 @@
{
Index: libgazebo/Iface.cc
===================================================================
---- libgazebo/Iface.cc (revision 6915)
+--- libgazebo/Iface.cc (revision 6952)
+++ libgazebo/Iface.cc (working copy)
@@ -55,6 +55,8 @@
GZ_REGISTER_IFACE("factory", FactoryIface);
@@ -116,7 +116,7 @@
Index: libgazebo/gazebo.h
===================================================================
---- libgazebo/gazebo.h (revision 6915)
+--- libgazebo/gazebo.h (revision 6952)
+++ libgazebo/gazebo.h (working copy)
@@ -558,7 +558,7 @@
@@ -568,7 +568,7 @@
#define GAZEBO_STEREO_CAMERA_MAX_DISPARITY_SIZE 640 * 480
/// \brief Stereo data
-@@ -1392,6 +1761,9 @@
+@@ -1380,6 +1749,9 @@
/// Right depth map (float)
public: float right_depth[GAZEBO_STEREO_CAMERA_MAX_DISPARITY_SIZE];
@@ -578,7 +578,7 @@
};
-@@ -1409,6 +1781,7 @@
+@@ -1397,6 +1769,7 @@
{
Iface::Create(server,id);
this->data = (StereoCameraData*)this->mMap;
@@ -586,7 +586,7 @@
}
/// \brief Open the iface
-@@ -1416,8 +1789,16 @@
+@@ -1404,8 +1777,16 @@
{
Iface::Open(client,id);
this->data = (StereoCameraData*)this->mMap;
@@ -605,30 +605,30 @@
};
Index: server/physics/SphereGeom.cc
===================================================================
---- server/physics/SphereGeom.cc (revision 6915)
+--- server/physics/SphereGeom.cc (revision 6952)
+++ server/physics/SphereGeom.cc (working copy)
-@@ -53,11 +53,16 @@
+@@ -53,11 +53,15 @@
double radius = node->GetDouble("size",1.0,0);
// Initialize box mass matrix
- dMassSetSphereTotal(&this->mass, this->dblMass, radius);
-+ this->SetGeom(dCreateSphere(0, radius ), true);
++ this->SetGeom( dCreateSphere(0, radius ), true);
// Create the sphere geometry
-- this->SetGeom(dCreateSphere(0, radius ), true);
+- this->SetGeom( dCreateSphere(0, radius ), true);
+-
+ if (this->massMatrix)
+ dMassSetParameters(&this->mass, this->dblMass, this->cx, this->cy, this->cz,
+ this->ixx,this->iyy,this->izz,this->ixy,this->ixz,this->iyz);
+ else
+ dMassSetSphereTotal(&this->mass, this->dblMass, radius);
-
-+
++
//to be able to show physics
/* this->visualNode->AttachMesh("unit_sphere"); // unit_sphere radius=1 diameter=2
this->visualNode->SetScale(Vector3(radius, radius ,radius));
Index: server/physics/BoxGeom.cc
===================================================================
---- server/physics/BoxGeom.cc (revision 6915)
+--- server/physics/BoxGeom.cc (revision 6952)
+++ server/physics/BoxGeom.cc (working copy)
@@ -54,11 +54,18 @@
@@ -654,9 +654,9 @@
this->visualNode->SetMaterial("Gazebo/GreenEmissive");
Index: server/physics/Geom.hh
===================================================================
---- server/physics/Geom.hh (revision 6915)
+--- server/physics/Geom.hh (revision 6952)
+++ server/physics/Geom.hh (working copy)
-@@ -170,6 +170,10 @@
+@@ -164,6 +164,10 @@
/// Mass as a double
protected: double dblMass;
@@ -669,7 +669,7 @@
Index: server/physics/HingeJoint.hh
===================================================================
---- server/physics/HingeJoint.hh (revision 6915)
+--- server/physics/HingeJoint.hh (revision 6952)
+++ server/physics/HingeJoint.hh (working copy)
@@ -117,6 +117,8 @@
@@ -682,7 +682,7 @@
Index: server/physics/CylinderGeom.cc
===================================================================
---- server/physics/CylinderGeom.cc (revision 6915)
+--- server/physics/CylinderGeom.cc (revision 6952)
+++ server/physics/CylinderGeom.cc (working copy)
@@ -50,10 +50,17 @@
double radius = node->GetTupleDouble("size",0,1.0);
@@ -706,7 +706,7 @@
/*this->visualNode->AttachMesh("unit_cylinder");
Index: server/physics/Geom.cc
===================================================================
---- server/physics/Geom.cc (revision 6915)
+--- server/physics/Geom.cc (revision 6952)
+++ server/physics/Geom.cc (working copy)
@@ -102,6 +102,21 @@
this->dblMass = 0.001;
@@ -730,7 +730,7 @@
this->contact->Load(node);
this->LoadChild(node);
-@@ -403,18 +418,21 @@
+@@ -372,18 +387,21 @@
if (!this->placeable)
return NULL;
@@ -756,7 +756,7 @@
dMassRotate(&this->bodyMass, r);
Index: server/physics/HingeJoint.cc
===================================================================
---- server/physics/HingeJoint.cc (revision 6915)
+--- server/physics/HingeJoint.cc (revision 6952)
+++ server/physics/HingeJoint.cc (working copy)
@@ -38,6 +38,7 @@
: Joint()
@@ -785,16 +785,14 @@
Index: server/physics/ode/ODEPhysics.cc
===================================================================
---- server/physics/ode/ODEPhysics.cc (revision 6915)
+--- server/physics/ode/ODEPhysics.cc (revision 6952)
+++ server/physics/ode/ODEPhysics.cc (working copy)
-@@ -259,24 +259,28 @@
+@@ -259,18 +259,18 @@
double h, kp, kd;
contact.geom = contactGeoms[i];
-- contact.surface.mode = dContactSoftERP | dContactSoftCFM |
-- dContactBounce | dContactMu2;
-+ //contact.surface.mode = dContactSoftERP | dContactSoftCFM |
-+ // dContactBounce | dContactMu2;
+- contact.surface.mode = dContactSoftERP | dContactBounce | dContactMu2;
++ //contact.surface.mode = dContactSoftERP | dContactBounce | dContactMu2;
+ contact.surface.mode = 0;
@@ -804,27 +802,17 @@
- kp = 1 / (1 / geom1->contact->kp + 1 / geom2->contact->kp);
+ kp = 1.0 / (1.0 / geom1->contact->kp + 1.0 / geom2->contact->kp);
kd = geom1->contact->kd + geom2->contact->kd;
-+ //std::cout << " =-======================= " << geom1->contact->kp
-+ // << " =-======================= " << geom2->contact->kp << std::endl;
contact.surface.soft_erp = h * kp / (h * kp + kd);
- contact.surface.soft_cfm = 1 / (h * kp + kd);
+ contact.surface.soft_cfm = 1.0 / (h * kp + kd);
-
+-
contact.surface.mu = MIN(geom1->contact->mu1, geom2->contact->mu1);
-- contact.surface.mu2 = MIN(geom1->contact->mu2, geom2->contact->mu2);
-+ //contact.surface.mu2 = MIN(geom1->contact->mu2, geom2->contact->mu2);
-+ contact.surface.mu2 = 0.0;
+ contact.surface.mu2 = MIN(geom1->contact->mu2, geom2->contact->mu2);
contact.surface.bounce = 0.1;
- contact.surface.bounce_vel = 0.1;
-- contact.surface.soft_cfm = 0.01;
-+ //contact.surface.soft_cfm = 0.01;
-
- dJointID c = dJointCreateContact (self->worldId,
- self->contactGroup, &contact);
Index: server/physics/TrimeshGeom.cc
===================================================================
---- server/physics/TrimeshGeom.cc (revision 6915)
+--- server/physics/TrimeshGeom.cc (revision 6952)
+++ server/physics/TrimeshGeom.cc (working copy)
@@ -208,7 +208,11 @@
@@ -841,7 +829,7 @@
this->SetGeom(this->geomId, true);
Index: server/physics/SliderJoint.cc
===================================================================
---- server/physics/SliderJoint.cc (revision 6915)
+--- server/physics/SliderJoint.cc (revision 6952)
+++ server/physics/SliderJoint.cc (working copy)
@@ -35,6 +35,8 @@
: Joint()
@@ -854,7 +842,7 @@
Index: server/sensors/Sensor.hh
===================================================================
---- server/sensors/Sensor.hh (revision 6915)
+--- server/sensors/Sensor.hh (revision 6952)
+++ server/sensors/Sensor.hh (working copy)
@@ -63,6 +63,7 @@
@@ -882,7 +870,7 @@
#endif
Index: server/sensors/camera/MonoCameraSensor.cc
===================================================================
---- server/sensors/camera/MonoCameraSensor.cc (revision 6915)
+--- server/sensors/camera/MonoCameraSensor.cc (revision 6952)
+++ server/sensors/camera/MonoCameraSensor.cc (working copy)
@@ -49,6 +49,7 @@
MonoCameraSensor::MonoCameraSensor(Body *body)
@@ -973,7 +961,7 @@
////////////////////////////////////////////////////////////////////////////////
Index: server/sensors/camera/StereoCameraSensor.cc
===================================================================
---- server/sensors/camera/StereoCameraSensor.cc (revision 6915)
+--- server/sensors/camera/StereoCameraSensor.cc (revision 6952)
+++ server/sensors/camera/StereoCameraSensor.cc (working copy)
@@ -58,6 +58,7 @@
this->depthBuffer[1] = NULL;
@@ -1138,7 +1126,7 @@
////////////////////////////////////////////////////////////////////////////////
Index: server/sensors/ray/RaySensor.cc
===================================================================
---- server/sensors/ray/RaySensor.cc (revision 6915)
+--- server/sensors/ray/RaySensor.cc (revision 6952)
+++ server/sensors/ray/RaySensor.cc (working copy)
@@ -237,7 +237,7 @@
// Update the sensor information
@@ -1151,7 +1139,7 @@
Pose3d poseDelta;
Index: server/sensors/Sensor.cc
===================================================================
---- server/sensors/Sensor.cc (revision 6915)
+--- server/sensors/Sensor.cc (revision 6952)
+++ server/sensors/Sensor.cc (working copy)
@@ -32,6 +32,7 @@
#include "World.hh"
@@ -1204,17 +1192,17 @@
+
Index: server/Simulator.cc
===================================================================
---- server/Simulator.cc (revision 6915)
+--- server/Simulator.cc (revision 6952)
+++ server/Simulator.cc (working copy)
-@@ -71,6 +71,7 @@
- physicsEnabled(true),
- timeout(-1)
+@@ -72,6 +72,7 @@
+ timeout(-1),
+ selectedEntity(NULL)
{
+ selectedEntity = NULL;
}
////////////////////////////////////////////////////////////////////////////////
-@@ -253,6 +254,9 @@
+@@ -254,6 +255,9 @@
{
currTime = this->GetRealTime();
@@ -1224,7 +1212,7 @@
if (physicsUpdateRate == 0 ||
currTime - this->prevPhysicsTime >= physicsUpdatePeriod)
{
-@@ -277,6 +281,9 @@
+@@ -278,6 +282,9 @@
this->prevPhysicsTime = this->GetRealTime();
}
@@ -1236,7 +1224,7 @@
currTime - this->prevRenderTime >= renderUpdatePeriod)
Index: server/rendering/UserCamera.hh
===================================================================
---- server/rendering/UserCamera.hh (revision 6915)
+--- server/rendering/UserCamera.hh (revision 6952)
+++ server/rendering/UserCamera.hh (working copy)
@@ -52,7 +52,7 @@
public: void Load( XMLConfigNode *node );
@@ -1269,7 +1257,7 @@
Index: server/rendering/UserCamera.cc
===================================================================
---- server/rendering/UserCamera.cc (revision 6915)
+--- server/rendering/UserCamera.cc (revision 6952)
+++ server/rendering/UserCamera.cc (working copy)
@@ -25,6 +25,7 @@
*/
@@ -1432,7 +1420,7 @@
+}
Index: server/GazeboConfig.cc
===================================================================
---- server/GazeboConfig.cc (revision 6915)
+--- server/GazeboConfig.cc (revision 6952)
+++ server/GazeboConfig.cc (working copy)
@@ -56,6 +56,17 @@
@@ -1454,7 +1442,7 @@
XMLConfig rc;
Index: server/gui/GLWindow.hh
===================================================================
---- server/gui/GLWindow.hh (revision 6915)
+--- server/gui/GLWindow.hh (revision 6952)
+++ server/gui/GLWindow.hh (working copy)
@@ -63,6 +63,9 @@
/// \brief Initalize the gui
@@ -1468,7 +1456,7 @@
Index: server/gui/GLFrame.cc
===================================================================
---- server/gui/GLFrame.cc (revision 6915)
+--- server/gui/GLFrame.cc (revision 6952)
+++ server/gui/GLFrame.cc (working copy)
@@ -107,7 +107,7 @@
// Load the frame
@@ -1481,7 +1469,7 @@
this->startPose.pos = node->GetVector3("xyz", Vector3(0,0,0));
Index: server/gui/GLWindow.cc
===================================================================
---- server/gui/GLWindow.cc (revision 6915)
+--- server/gui/GLWindow.cc (revision 6952)
+++ server/gui/GLWindow.cc (working copy)
@@ -68,11 +68,17 @@
this->directionVec.x = 0;
@@ -1590,7 +1578,7 @@
this->moveAmount *= 2;
Index: server/World.hh
===================================================================
---- server/World.hh (revision 6915)
+--- server/World.hh (revision 6952)
+++ server/World.hh (working copy)
@@ -91,6 +91,26 @@
/// \return Pointer to the physics engine
@@ -1631,7 +1619,7 @@
};
Index: server/controllers/camera/generic/Generic_Camera.cc
===================================================================
---- server/controllers/camera/generic/Generic_Camera.cc (revision 6915)
+--- server/controllers/camera/generic/Generic_Camera.cc (revision 6952)
+++ server/controllers/camera/generic/Generic_Camera.cc (working copy)
@@ -79,7 +79,24 @@
// Update the controller
@@ -1661,7 +1649,7 @@
////////////////////////////////////////////////////////////////////////////////
Index: server/controllers/Controller.cc
===================================================================
---- server/controllers/Controller.cc (revision 6915)
+--- server/controllers/Controller.cc (revision 6952)
+++ server/controllers/Controller.cc (working copy)
@@ -67,8 +67,12 @@
@@ -1680,7 +1668,7 @@
Index: server/World.cc
===================================================================
---- server/World.cc (revision 6915)
+--- server/World.cc (revision 6952)
+++ server/World.cc (working copy)
@@ -27,6 +27,7 @@
#include <assert.h>
@@ -1700,7 +1688,7 @@
}
////////////////////////////////////////////////////////////////////////////////
-@@ -152,6 +156,7 @@
+@@ -167,6 +171,7 @@
this->physicsEngine->Init();
@@ -1708,7 +1696,7 @@
this->toAddModels.clear();
this->toDeleteModels.clear();
-@@ -165,6 +170,11 @@
+@@ -180,6 +185,11 @@
std::vector< Model* >::iterator miter;
std::vector< Model* >::iterator miter2;
@@ -1720,7 +1708,7 @@
// Update all the models
for (miter=this->models.begin(); miter!=this->models.end(); miter++)
{
-@@ -174,14 +184,27 @@
+@@ -189,14 +199,27 @@
}
}
@@ -1748,7 +1736,7 @@
// Copy the newly created models into the main model vector
std::copy(this->toAddModels.begin(), this->toAddModels.end(),
std::back_inserter(this->models));
-@@ -199,6 +222,9 @@
+@@ -214,6 +237,9 @@
this->toDeleteModels.clear();
@@ -1758,7 +1746,7 @@
return 0;
}
-@@ -246,6 +272,41 @@
+@@ -268,6 +294,41 @@
return this->physicsEngine;
}
@@ -1802,7 +1790,7 @@
int World::LoadEntities(XMLConfigNode *node, Model *parent)
Index: SConstruct
===================================================================
---- SConstruct (revision 6915)
+--- SConstruct (revision 6952)
+++ SConstruct (working copy)
@@ -22,8 +22,11 @@
# 3rd party packages
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/Ros_Camera.cc
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/Ros_Camera.cc 2008-08-15 00:09:45 UTC (rev 3102)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/Ros_Camera.cc 2008-08-15 00:11:44 UTC (rev 3103)
@@ -148,7 +148,7 @@
// GetFOV() returns radians
data->hfov = this->myParent->GetHFOV();
- data->vfov = this->myParent->GetVFOV();
+ //data->vfov = this->myParent->GetVFOV(); //FIXME: breaks in gazebo
// Set the pose of the camera
cameraPose = this->myParent->GetWorldPose();
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