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From: <is...@us...> - 2008-08-17 18:14:04
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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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