Menu
▾
▴
[Personalrobots-commit] SF.net SVN: personalrobots:[3443] pkg/trunk
|
From: <jl...@us...> - 2008-08-21 23:34:37
|
Revision: 3443
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=3443&view=rev
Author: jleibs
Date: 2008-08-21 23:34:47 +0000 (Thu, 21 Aug 2008)
Log Message:
-----------
Updates to tilting laser stack.
Modified Paths:
--------------
pkg/trunk/deprecated/etherdrive_old/src/etherdrive_node/etherdrive_node.cpp
pkg/trunk/drivers/cam/dc1394_cam_server/src/dc1394_cam_server/dc1394_cam_server.cpp
pkg/trunk/drivers/laser/hokuyourg_player/hokuyourg_player.cc
pkg/trunk/drivers/robot/pr2/tilting_laser/launch_tl
pkg/trunk/drivers/robot/pr2/tilting_laser/params.xml
pkg/trunk/drivers/robot/pr2/tilting_laser/src/tilting_laser/tilting_laser.cpp
Modified: pkg/trunk/deprecated/etherdrive_old/src/etherdrive_node/etherdrive_node.cpp
===================================================================
--- pkg/trunk/deprecated/etherdrive_old/src/etherdrive_node/etherdrive_node.cpp 2008-08-21 23:29:42 UTC (rev 3442)
+++ pkg/trunk/deprecated/etherdrive_old/src/etherdrive_node/etherdrive_node.cpp 2008-08-21 23:34:47 UTC (rev 3443)
@@ -60,7 +60,7 @@
for (int i = 0;i < 6;i++) {
ostringstream oss;
oss << "mot" << i;
- advertise<std_msgs::Actuator>(oss.str().c_str());
+ advertise<std_msgs::Actuator>(oss.str().c_str(), 1);
oss << "_cmd";
subscribe(oss.str().c_str(), mot_cmd[i], &EtherDrive_Node::mot_callback);
Modified: pkg/trunk/drivers/cam/dc1394_cam_server/src/dc1394_cam_server/dc1394_cam_server.cpp
===================================================================
--- pkg/trunk/drivers/cam/dc1394_cam_server/src/dc1394_cam_server/dc1394_cam_server.cpp 2008-08-21 23:29:42 UTC (rev 3442)
+++ pkg/trunk/drivers/cam/dc1394_cam_server/src/dc1394_cam_server/dc1394_cam_server.cpp 2008-08-21 23:34:47 UTC (rev 3443)
@@ -336,11 +336,11 @@
if (cd.cam_type == VIDERE)
{
- advertise<std_msgs::String>(cd.name + string("/cal_params"));
- advertise<std_msgs::ImageArray>(cd.name + string("/images"));
- advertise<std_msgs::PointCloudFloat32>(cd.name + string("/cloud"));
+ advertise<std_msgs::String>(cd.name + string("/cal_params"), 1);
+ advertise<std_msgs::ImageArray>(cd.name + string("/images"), 1);
+ advertise<std_msgs::PointCloudFloat32>(cd.name + string("/cloud"), 1);
} else {
- advertise<std_msgs::Image>(cd.name + string("/image"));
+ advertise<std_msgs::Image>(cd.name + string("/image"), 1);
}
cams_.push_back(cd);
Modified: pkg/trunk/drivers/laser/hokuyourg_player/hokuyourg_player.cc
===================================================================
--- pkg/trunk/drivers/laser/hokuyourg_player/hokuyourg_player.cc 2008-08-21 23:29:42 UTC (rev 3442)
+++ pkg/trunk/drivers/laser/hokuyourg_player/hokuyourg_player.cc 2008-08-21 23:34:47 UTC (rev 3443)
@@ -146,7 +146,7 @@
HokuyoNode() : ros::node("urglaser"), running(false), count(0)
{
- advertise<std_msgs::LaserScan>("scan");
+ advertise<std_msgs::LaserScan>("scan", 100);
advertise_service("~self_test", &HokuyoNode::SelfTest);
param("~min_ang", min_ang, -90.0);
Modified: pkg/trunk/drivers/robot/pr2/tilting_laser/launch_tl
===================================================================
--- pkg/trunk/drivers/robot/pr2/tilting_laser/launch_tl 2008-08-21 23:29:42 UTC (rev 3442)
+++ pkg/trunk/drivers/robot/pr2/tilting_laser/launch_tl 2008-08-21 23:34:47 UTC (rev 3443)
@@ -1,9 +1,4 @@
-#!/bin/bash
-if [ -z $1 ]; then
- ROS_MASTER_URI=http://localhost:11311
-else
- ROS_MASTER_URI=$1
-fi
+
echo Starting sensors with ROS_MASTER_URI=$ROS_MASTER_URI
`rospack find xmlparam`/xmlparam `rospack find tilting_laser`/params.xml
xterm -e `rospack find hokuyourg_player`/hokuyourg_player&
Modified: pkg/trunk/drivers/robot/pr2/tilting_laser/params.xml
===================================================================
--- pkg/trunk/drivers/robot/pr2/tilting_laser/params.xml 2008-08-21 23:29:42 UTC (rev 3442)
+++ pkg/trunk/drivers/robot/pr2/tilting_laser/params.xml 2008-08-21 23:34:47 UTC (rev 3443)
@@ -3,11 +3,12 @@
<double name="urglaser/max_ang">70</double>
<int name="urglaser/cluster">1</int>
<int name="urglaser/skip">0</int>
+ <string name="urglaser/frameid">FRAMEID_LASER2</string>
<double name="etherdrive/pulse_per_rad0">-9549.29659</double>
<string name="etherdrive/frame_id0">FRAMEID_TILT_STAGE</string>
<string name="etherdrive/parent_id0">FRAMEID_TILT_BASE</string>
<int name="etherdrive/rot_axis0">2</int>
<int name="tilting_laser/num_scans">400</int>
- <double name="tilting_laser/min_ang">-65.0</double>
- <double name="tilting_laser/max_ang">35.0</double>
+ <double name="tilting_laser/min_ang">30.0</double>
+ <double name="tilting_laser/max_ang">130.0</double>
</params>
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 2008-08-21 23:29:42 UTC (rev 3442)
+++ pkg/trunk/drivers/robot/pr2/tilting_laser/src/tilting_laser/tilting_laser.cpp 2008-08-21 23:34:47 UTC (rev 3443)
@@ -155,12 +155,12 @@
Tilting_Laser() : ros::node("tilting_laser"), tf(*this), full_cloud_cnt(0), sizes_ready(false), img_ind(-1), img_dir(1),last_ang(1000000), rate_err_down(0.0), rate_err_up(0.0), accum_angle(0.0), scan_received(false), count(0)
{
- advertise<PointCloudFloat32>("cloud");
- advertise<Empty>("shutter");
- advertise<PointCloudFloat32>("full_cloud");
- advertise<LaserImage>("laser_image");
- advertise<Image>("image");
- advertise<Actuator>("mot_cmd");
+ advertise<PointCloudFloat32>("cloud", 1);
+ advertise<Empty>("shutter", 1);
+ advertise<PointCloudFloat32>("full_cloud", 1);
+ advertise<LaserImage>("laser_image", 1);
+ advertise<Image>("image", 1);
+ advertise<Actuator>("mot_cmd", 100);
subscribe("scan", scans, &Tilting_Laser::scans_callback,40);
subscribe("mot", encoder, &Tilting_Laser::encoder_callback,40);
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
