[Personalrobots-commit] SF.net SVN: personalrobots:[3464] pkg/trunk

[<hsu...@us...>]

Revision: 3464
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=3464&view=rev
Author:   hsujohnhsu
Date:     2008-08-22 02:08:41 +0000 (Fri, 22 Aug 2008)

Log Message:
-----------
update models to use new hokuyo meshes.

Modified Paths:
--------------
    pkg/trunk/drivers/simulator/gazebo_plugin/src/test_actuators.cpp
    pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml
    pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2_test.xml

Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/test_actuators.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/test_actuators.cpp	2008-08-22 02:01:17 UTC (rev 3463)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/test_actuators.cpp	2008-08-22 02:08:41 UTC (rev 3464)
@@ -912,7 +912,7 @@
 
 
 
-
+#if 0
   void
   TestActuators::CmdLeftarmcartesianReceived()
   {
@@ -983,6 +983,7 @@
     this->lock.unlock();
           return true;
   }
+#endif
 
   void
   TestActuators::PublishFrameTransforms()
@@ -1398,8 +1399,6 @@
                  timeMsg.rostime);
 
     // tilt laser location
-    double tmpPitch, tmpPitchRate;
-    //this->PR2Copy->hw.GetJointServoCmd(PR2::HEAD_LASER_PITCH, &tmpPitch, &tmpPitchRate );
     controller::Controller* tlc = mc_.getControllerByName( "tilt_laser_controller" );
     double tilt_laser_angle = dynamic_cast<controller::JointPositionControllerNode*>(tlc)->getMeasuredPosition();
     tfs->sendEuler("tilt_laser",
@@ -1419,6 +1418,8 @@
     double tmpSteerFR, tmpVelFR;
     double tmpSteerRL, tmpVelRL;
     double tmpSteerRR, tmpVelRR;
+    //controller::Controller* bcsw = mc_.getControllerByName( "base_controller" );
+    //double tilt_laser_angle = dynamic_cast<controller::BaseControllerNode*>(bcsw)->getMeasuredPosition();
     //this->PR2Copy->hw.GetJointServoCmd(PR2::CASTER_FL_STEER, &tmpSteerFL, &tmpVelFL );
     //this->PR2Copy->hw.GetJointServoCmd(PR2::CASTER_FR_STEER, &tmpSteerFR, &tmpVelFR );
     //this->PR2Copy->hw.GetJointServoCmd(PR2::CASTER_RL_STEER, &tmpSteerRL, &tmpVelRL );

Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml	2008-08-22 02:01:17 UTC (rev 3463)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml	2008-08-22 02:08:41 UTC (rev 3464)
@@ -1657,7 +1657,7 @@
         <elem key="material">Gazebo/PioneerBody</elem>
       </map>
       <geometry name="pr2_tilt_laser_mesh_file">
-        <mesh filename="hokuyo" /> <!-- mesh specified using an obj file --> 
+        <mesh filename="hok_tilt" /> <!-- mesh specified using an obj file --> 
       </geometry>
     </visual>
     
@@ -1717,8 +1717,8 @@
       <map name="gazebo_material" flag="gazebo">
         <elem key="material">Gazebo/PioneerBody</elem>
       </map>
-      <geometry name="pr2_base_laser_mesh_file">
-        <mesh filename="hokuyo" scale="0.5 0.5 0.5"/> <!-- mesh specified using an obj file --> 
+      <geometry name="pr2_base_laser_geom">
+        <mesh scale="0.001 0.001 0.001"/> <!-- mesh specified using an obj file --> 
       </geometry>
     </visual>
     

Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2_test.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2_test.xml	2008-08-22 02:01:17 UTC (rev 3463)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2_test.xml	2008-08-22 02:08:41 UTC (rev 3464)
@@ -1657,7 +1657,7 @@
         <elem key="material">Gazebo/PioneerBody</elem>
       </map>
       <geometry name="pr2_tilt_laser_mesh_file">
-        <mesh filename="hokuyo" /> <!-- mesh specified using an obj file --> 
+        <mesh filename="hok_tilt" /> <!-- mesh specified using an obj file --> 
       </geometry>
     </visual>
     
@@ -1718,7 +1718,7 @@
         <elem key="material">Gazebo/PioneerBody</elem>
       </map>
       <geometry name="pr2_base_laser_mesh_file">
-        <mesh filename="hokuyo" scale="0.5 0.5 0.5"/> <!-- mesh specified using an obj file --> 
+        <mesh scale="0.001 0.001 0.001"/> <!-- mesh specified using an obj file --> 
       </geometry>
     </visual>
     


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