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[Personalrobots-commit] SF.net SVN: personalrobots:[3259] pkg/trunk
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From: <tf...@us...> - 2008-08-19 18:48:58
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Revision: 3259
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=3259&view=rev
Author: tfoote
Date: 2008-08-19 18:49:06 +0000 (Tue, 19 Aug 2008)
Log Message:
-----------
fixing APIs I missed before, sorry
Modified Paths:
--------------
pkg/trunk/drivers/robot/erratic_player/erratic_player.cc
pkg/trunk/drivers/robot/pr2/tilting_laser/src/tilting_laser/tilting_laser.cpp
pkg/trunk/robot_control_loops/pr2_gazebo/src/RosGazeboControlsNode.cpp
pkg/trunk/visualization/pr2_gui/src/Vis3d.cpp
pkg/trunk/visualization/scene_labeler/include/scene_labeler.h
pkg/trunk/world_models/costmap_2d/src/costmap_2d_ros.cpp
Modified: pkg/trunk/drivers/robot/erratic_player/erratic_player.cc
===================================================================
--- pkg/trunk/drivers/robot/erratic_player/erratic_player.cc 2008-08-19 18:48:16 UTC (rev 3258)
+++ pkg/trunk/drivers/robot/erratic_player/erratic_player.cc 2008-08-19 18:49:06 UTC (rev 3259)
@@ -288,7 +288,7 @@
en.odom.vel.th = pdata->vel.pa;
en.odom.stall = pdata->stall;
- en.odom.header.frame_id = en.tf.lookup("FRAMEID_ODOM");
+ en.odom.header.frame_id = "FRAMEID_ODOM";
en.odom.header.stamp.sec = (long long unsigned int)floor(hdr->timestamp);
en.odom.header.stamp.sec = (long long unsigned int)((hdr->timestamp - floor(hdr->timestamp)) * 1000000000ULL);
Modified: pkg/trunk/drivers/robot/pr2/tilting_laser/src/tilting_laser/tilting_laser.cpp
===================================================================
--- pkg/trunk/drivers/robot/pr2/tilting_laser/src/tilting_laser/tilting_laser.cpp 2008-08-19 18:48:16 UTC (rev 3258)
+++ pkg/trunk/drivers/robot/pr2/tilting_laser/src/tilting_laser/tilting_laser.cpp 2008-08-19 18:49:06 UTC (rev 3259)
@@ -174,11 +174,11 @@
last_motor_time = ros::Time::now();
next_time = ros::Time::now();
- tf.setWithEulers(tf.lookup("FRAMEID_LASER2"), tf.lookup("FRAMEID_TILT_STAGE"),
+ tf.setWithEulers("FRAMEID_LASER2", "FRAMEID_TILT_STAGE",
0.0, 0, .02,
0.0, 0.0, 0.0,
last_motor_time.to_ull());
- tf.setWithEulers(tf.lookup("FRAMEID_TILT_STAGE"), tf.lookup("FRAMEID_TILT_BASE"),
+ tf.setWithEulers("FRAMEID_TILT_STAGE", "FRAMEID_TILT_BASE",
0, 0, 0,
0, 0, 0,
last_motor_time.to_ull());
@@ -239,7 +239,7 @@
u.y = 0;
u.z = 0;
u.time = scans.header.stamp.to_ull();
- u.frame = tf.lookup("FRAMEID_TILT_STAGE");
+ u.frame = "FRAMEID_TILT_STAGE";
libTF::TFVector v = tf.transformVector("FRAMEID_TILT_BASE",u);
@@ -321,7 +321,7 @@
long long inc = scans.time_increment * i * 1000000000;
unsigned long long t = scans.header.stamp.to_ull() + inc;
- rot_point = tf.getMatrix(tf.lookup("FRAMEID_TILT_BASE"),tf.lookup("FRAMEID_LASER2"),t) * point;
+ rot_point = tf.getMatrix("FRAMEID_TILT_BASE","FRAMEID_LASER2",t) * point;
if (valid)
{
Modified: pkg/trunk/robot_control_loops/pr2_gazebo/src/RosGazeboControlsNode.cpp
===================================================================
--- pkg/trunk/robot_control_loops/pr2_gazebo/src/RosGazeboControlsNode.cpp 2008-08-19 18:48:16 UTC (rev 3258)
+++ pkg/trunk/robot_control_loops/pr2_gazebo/src/RosGazeboControlsNode.cpp 2008-08-19 18:49:06 UTC (rev 3259)
@@ -532,7 +532,7 @@
this->laserMsg.intensities[i] = this->intensities[i];
}
- this->laserMsg.header.frame_id = tf.lookup("FRAMEID_LASER");
+ this->laserMsg.header.frame_id = "FRAMEID_LASER";
this->laserMsg.header.stamp.sec = (unsigned long)floor(this->simTime);
this->laserMsg.header.stamp.nsec = (unsigned long)floor( 1e9 * ( this->simTime - this->laserMsg.header.stamp.sec) );
@@ -565,7 +565,7 @@
// this->odomMsg.stall = this->positionmodel->Stall();
// TODO: get the frame ID from somewhere
- this->odomMsg.header.frame_id = tf.lookup("FRAMEID_ODOM");
+ this->odomMsg.header.frame_id = "FRAMEID_ODOM";
this->odomMsg.header.stamp.sec = (unsigned long)floor(this->simTime);
this->odomMsg.header.stamp.nsec = (unsigned long)floor( 1e9 * ( this->simTime - this->odomMsg.header.stamp.sec) );
Modified: pkg/trunk/visualization/pr2_gui/src/Vis3d.cpp
===================================================================
--- pkg/trunk/visualization/pr2_gui/src/Vis3d.cpp 2008-08-19 18:48:16 UTC (rev 3258)
+++ pkg/trunk/visualization/pr2_gui/src/Vis3d.cpp 2008-08-19 18:49:06 UTC (rev 3259)
@@ -166,8 +166,8 @@
aPose.pitch = 0;
aPose.yaw = 0;
aPose.time = 0;
- //aPose.frame = this->tfClient.nameClient.lookup(PR2::PR2_FRAMEID[i]);// + i
- aPose.frame = this->tfClient.nameClient.lookup(links[i]->name);
+ //aPose.frame = PR2::PR2_FRAMEID[i];// + i
+ aPose.frame = links[i]->name;
libTF::TFPose inBaseFrame;
try
{
@@ -182,13 +182,13 @@
inBaseFrame.pitch = 0;
inBaseFrame.yaw = 0;
inBaseFrame.time = 0;
- inBaseFrame.frame = this->tfClient.nameClient.lookup("base");
+ inBaseFrame.frame = "base";
}
std::cout << "Coordinates for : " << i << "; "<<inBaseFrame.x << ", " << inBaseFrame.y << ", " << inBaseFrame.z << "; "<<inBaseFrame.roll << ", " << inBaseFrame.pitch << ", " << inBaseFrame.yaw <<std::endl;
try{
if(links[i]->visual->geometry->filename != "")
{
- ILModel *tempModel = new ILModel(pLocalRenderer->manager(), intermediate, (irr::c8*)(pathnamePrefix + links[i]->visual->geometry->filename + pathnameSuffix).c_str(), this->tfClient.nameClient.lookup(links[i]->name), (float)inBaseFrame.x,(float)inBaseFrame.y, (float)inBaseFrame.z, (float)inBaseFrame.roll,(float)(inBaseFrame.pitch), (float)(inBaseFrame.yaw));
+ ILModel *tempModel = new ILModel(pLocalRenderer->manager(), intermediate, (irr::c8*)(pathnamePrefix + links[i]->visual->geometry->filename + pathnameSuffix).c_str(), links[i]->name, (float)inBaseFrame.x,(float)inBaseFrame.y, (float)inBaseFrame.z, (float)inBaseFrame.roll,(float)(inBaseFrame.pitch), (float)(inBaseFrame.yaw));
if(tempModel->getNode() != NULL)
{
tempModel->getNode()->getMaterial(0).AmbientColor.set(255,100+int(155.0*rand()/(RAND_MAX + 1.0)),100+int(155.0*rand()/(RAND_MAX + 1.0)),100+int(155.0*rand()/(RAND_MAX + 1.0)));
@@ -382,7 +382,7 @@
aPose.pitch = 0;
aPose.yaw = 0;
aPose.time = 0;
- aPose.frame = this->tfClient.nameClient.lookup("FRAMEID_TILT_LASER_BLOCK"); //TODO: put me in pr2.xml and change my string
+ aPose.frame = "FRAMEID_TILT_LASER_BLOCK"; //TODO: put me in pr2.xml and change my string
libTF::TFPose inBaseFrame;
try
{
@@ -397,7 +397,7 @@
inBaseFrame.pitch = 0;
inBaseFrame.yaw = 0;
inBaseFrame.time = 0;
- inBaseFrame.frame = this->tfClient.nameClient.lookup("base");
+ inBaseFrame.frame = "base";
}
switch(scanT)
{
@@ -431,7 +431,7 @@
aPose.pitch = 0;
aPose.yaw = 0;
aPose.time = 0;
- aPose.frame = this->tfClient.nameClient.lookup("FRAMEID_BASE_LASER_BLOCK"); //TODO: put me in pr2.xml and change my string
+ aPose.frame = "FRAMEID_BASE_LASER_BLOCK"; //TODO: put me in pr2.xml and change my string
libTF::TFPose inBaseFrame;
try
{
@@ -446,7 +446,7 @@
inBaseFrame.pitch = 0;
inBaseFrame.yaw = 0;
inBaseFrame.time = 0;
- inBaseFrame.frame = this->tfClient.nameClient.lookup("base");
+ inBaseFrame.frame = "base";
}
shutterFloor();
pLocalRenderer->lock();
@@ -470,7 +470,7 @@
aPose.pitch = 0;
aPose.yaw = 0;
aPose.time = 0;
- aPose.frame = this->tfClient.nameClient.lookup("FRAMEID_STEREO_BLOCK"); //TODO: put me in pr2.xml and change my string
+ aPose.frame = "FRAMEID_STEREO_BLOCK"; //TODO: put me in pr2.xml and change my string
libTF::TFPose inBaseFrame;
try
{
@@ -485,7 +485,7 @@
inBaseFrame.pitch = 0;
inBaseFrame.yaw = 0;
inBaseFrame.time = 0;
- inBaseFrame.frame = this->tfClient.nameClient.lookup("base");
+ inBaseFrame.frame = "base";
}
pLocalRenderer->lock();
/*for(int i = 0; i < ilStereoCloud.size(); i++)
@@ -562,7 +562,7 @@
aPose.pitch = 0;
aPose.yaw = 0;
aPose.time = 0;
- aPose.frame = this->tfClient.nameClient.lookup((*iter).first);
+ aPose.frame = (*iter).first;
libTF::TFPose inBaseFrame;
try
{
@@ -578,7 +578,7 @@
inBaseFrame.pitch = 0;
inBaseFrame.yaw = 0;
inBaseFrame.time = 0;
- inBaseFrame.frame = this->tfClient.nameClient.lookup("base");
+ inBaseFrame.frame = "base";
}
if((*iter).second != NULL)
{
Modified: pkg/trunk/visualization/scene_labeler/include/scene_labeler.h
===================================================================
--- pkg/trunk/visualization/scene_labeler/include/scene_labeler.h 2008-08-19 18:48:16 UTC (rev 3258)
+++ pkg/trunk/visualization/scene_labeler/include/scene_labeler.h 2008-08-19 18:49:06 UTC (rev 3259)
@@ -74,7 +74,6 @@
cout << "Waiting for transformations from rosTF/frameServer... "; flush(cout);
while(true) {
try {
- //rtf.getMatrix(rtf.nameClient.lookup("FRAMEID_SMALLV"), rtf.nameClient.lookup("FRAMEID_TILT_BASE"), ros::Time::now().to_ull());
rtf.getMatrix("FRAMEID_SMALLV", "FRAMEID_TILT_BASE", ros::Time::now().to_ull());
break;
}
@@ -106,10 +105,10 @@
cout << "Done." << endl;
// -- Apply a default frame for old logs that don't have it in the header. Assume we're using smallv_transformer.
-/* if(videre_cloud_msg_.header.frame_id == 0) */
-/* videre_cloud_msg_.header.frame_id = rtf.nameClient.lookup("FRAMEID_SMALLV"); */
-/* if(full_cloud_msg_.header.frame_id == 0) */
-/* full_cloud_msg_.header.frame_id = rtf.nameClient.lookup("FRAMEID_SMALLV"); */
+ if(videre_cloud_msg_.header.frame_id == 0)
+ videre_cloud_msg_.header.frame_id = "FRAMEID_SMALLV";
+ if(full_cloud_msg_.header.frame_id == 0)
+ full_cloud_msg_.header.frame_id = "FRAMEID_SMALLV";
// -- Old time stamps anger rostf.
full_cloud_msg_.header.stamp = ros::Time::now();
Modified: pkg/trunk/world_models/costmap_2d/src/costmap_2d_ros.cpp
===================================================================
--- pkg/trunk/world_models/costmap_2d/src/costmap_2d_ros.cpp 2008-08-19 18:48:16 UTC (rev 3258)
+++ pkg/trunk/world_models/costmap_2d/src/costmap_2d_ros.cpp 2008-08-19 18:49:06 UTC (rev 3259)
@@ -128,8 +128,8 @@
costmap_.setStaticMap(sx, sy, resp.map.resolution, mapdata);
delete[] mapdata;
- tf_.setWithEulers(tf_.lookup("FRAMEID_LASER"),
- tf_.lookup("FRAMEID_ROBOT"),
+ tf_.setWithEulers("FRAMEID_LASER",
+ "FRAMEID_ROBOT",
0.05, 0.0, 0.0, 0.0, 0.0, 0.0, 0);
advertise<std_msgs::Polyline2D>("gui_laser");
@@ -171,7 +171,7 @@
// aPose.pitch = 0;
// aPose.yaw = 0;
// aPose.time = 0;
- // aPose.frame = tf.lookup("FRAMEID_ODOM");
+ // aPose.frame = "FRAMEID_ODOM";
// libTF::TFPose inMapFrame = tf.transformPose("FRAMEID_MAP", aPose);
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