[Personalrobots-commit] SF.net SVN: personalrobots:[3186] pkg/trunk

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

Revision: 3186
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=3186&view=rev
Author:   isucan
Date:     2008-08-17 18:14:13 +0000 (Sun, 17 Aug 2008)

Log Message:
-----------
parameters update

Modified Paths:
--------------
    pkg/trunk/motion_planning/plan_kinematic_path/src/plan_kinematic_path.cpp
    pkg/trunk/robot_msgs/msg/NamedKinematicPath.msg
    pkg/trunk/world_models/world_3d_map/run.xml

Modified: pkg/trunk/motion_planning/plan_kinematic_path/src/plan_kinematic_path.cpp
===================================================================
--- pkg/trunk/motion_planning/plan_kinematic_path/src/plan_kinematic_path.cpp	2008-08-16 19:34:29 UTC (rev 3185)
+++ pkg/trunk/motion_planning/plan_kinematic_path/src/plan_kinematic_path.cpp	2008-08-17 18:14:13 UTC (rev 3186)
@@ -64,7 +64,7 @@
 	req.threshold = 0.01;
 	req.distance_metric = "L2Square";
 	
-	req.start_state.set_vals_size(50);
+	req.start_state.set_vals_size(45);
 	for (unsigned int i = 0 ; i < req.start_state.vals_size ; ++i)
 	    req.start_state.vals[i] = 0.0;
 	
@@ -74,7 +74,7 @@
 	    req.goal_state.vals[i] = m_basePos[i];
 	    req.start_state.vals[i] = m_basePos[i];
 	}
-	req.goal_state.vals[0] += 2.5;
+	req.goal_state.vals[0] += 3.5;
 	
 
 	req.allowed_time = 5.0;
@@ -160,8 +160,8 @@
     while (!plan.haveBasePos())
 	dur.sleep();
 
-    plan.runTestLeftArm();    
-    //    plan.runTestBase();
+    //    plan.runTestLeftArm();    
+    plan.runTestBase();
     
     plan.shutdown();
     

Modified: pkg/trunk/robot_msgs/msg/NamedKinematicPath.msg
===================================================================
--- pkg/trunk/robot_msgs/msg/NamedKinematicPath.msg	2008-08-16 19:34:29 UTC (rev 3185)
+++ pkg/trunk/robot_msgs/msg/NamedKinematicPath.msg	2008-08-17 18:14:13 UTC (rev 3186)
@@ -1,5 +1,5 @@
 # The definition of a kinematic path that has a name
 # The name identifies the part of the robot the path is for
-
+# This is useful in displaying paths
 string name
 KinematicPath path

Modified: pkg/trunk/world_models/world_3d_map/run.xml
===================================================================
--- pkg/trunk/world_models/world_3d_map/run.xml	2008-08-16 19:34:29 UTC (rev 3185)
+++ pkg/trunk/world_models/world_3d_map/run.xml	2008-08-17 18:14:13 UTC (rev 3186)
@@ -3,7 +3,7 @@
   <param name="world_3d_map/max_publish_frequency" type="double" value="0.3" /> <!-- Hz -->
   <param name="world_3d_map/retain_pointcloud_duration" type="double" value="60.0" /> <!-- seconds -->
   <param name="world_3d_map/retain_pointcloud_fraction" type="double" value="0.05" /> <!-- percentage (between 0 and 1) -->
-  <param name="world_3d_map/retain_above_ground_threshold" type="double" value="-100.0" /> <!-- double value -->
+  <param name="world_3d_map/retain_above_ground_threshold" type="double" value="0.02" /> <!-- double value -->
   <param name="world_3d_map/verbosity_level" type="int" value="1" /> <!-- integer value -->
   
   <node pkg="world_3d_map" type="world_3d_map" args="robotdesc/pr2 scan:=tilt_scan" output="screen" respawn="false" />  


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