[Personalrobots-commit] SF.net SVN: personalrobots:[3626] pkg/trunk

[<tf...@us...>]

Revision: 3626
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=3626&view=rev
Author:   tfoote
Date:     2008-08-26 18:58:03 +0000 (Tue, 26 Aug 2008)

Log Message:
-----------
recovering IBPS from unported and stripping out legacy code

Modified Paths:
--------------
    pkg/trunk/nav/wavefront_player/wavefront_player.cc

Added Paths:
-----------
    pkg/trunk/drivers/robot/pr2/IBPSBatteryInterface/

Removed Paths:
-------------
    pkg/trunk/drivers/robot/pr2/IBPSBatteryInterface/doc/
    pkg/trunk/drivers/robot/pr2/IBPSBatteryInterface/lib/
    pkg/trunk/drivers/robot/pr2/IBPSBatteryInterface/nodes/
    pkg/trunk/drivers/robot/pr2/IBPSBatteryInterface/rosbuild
    pkg/trunk/unported/IBPSBatteryInterface/

Deleted: pkg/trunk/drivers/robot/pr2/IBPSBatteryInterface/rosbuild
===================================================================
--- pkg/trunk/unported/IBPSBatteryInterface/rosbuild	2008-07-14 05:35:02 UTC (rev 1526)
+++ pkg/trunk/drivers/robot/pr2/IBPSBatteryInterface/rosbuild	2008-08-26 18:58:03 UTC (rev 3626)
@@ -1,36 +0,0 @@
-#!/usr/bin/env ruby
-
-if !ENV['ROS_ROOT']
-  puts "aaaaaaa! The ROS_ROOT environment variable is not set."
-  puts "Navigate to your ROS_ROOT directory and run ./set_ros_root"
-  puts "(alternatively, you can do this in your .bashrc file"
-  exit
-end
-
-pkg_path = File.expand_path($0).split('/')
-pkg_path = pkg_path[0,pkg_path.length-1].join('/')
-
-if ARGV.length == 0 || ARGV[0] == 'update'
-  puts "generating flows..."
-  # look up the latest versions of rosrb and rospy
-  rosrb = `#{ENV['ROS_ROOT']}/rospack latest rosrb`.chomp
-  rospy = `#{ENV['ROS_ROOT']}/rospack latest rospy`.chomp
-  puts `#{rospy}/scripts/flowgen_py #{pkg_path}/flows/*.flow`
-  puts `#{rosrb}/scripts/flowgen_rb #{pkg_path}/flows/*.flow`
-elsif ARGV[0] == 'clean'
-  puts "cleaning auto-generated flows..."
-  # string hackery to generate the same filenames the flow generators do
-  pkg = File.expand_path($0).split('/')[-2]
-  Dir.glob("#{pkg_path}/flows/*.flow").each do |f|
-    f = f.split('/')[-1]
-    f[-5,:end] = ''
-    puts "deleting auto-generated flows for flow #{f}"
-    `rm #{pkg_path}/flows/python/#{pkg}/#{f}.py` if File.exist? "#{pkg_path}/flows/python/#{pkg}/#{f}.py"
-    `rm #{pkg_path}/flows/python/#{pkg}/#{f}.pyc` if File.exist? "#{pkg_path}/flows/python/#{pkg}/#{f}.pyc"
-    `rm #{pkg_path}/flows/ruby/#{pkg}/Flow#{f}.rb` if File.exist? "#{pkg_path}/flows/ruby/#{pkg}/Flow#{f}.rb"
-  end
-  `rm #{pkg_path}/flows/python/#{pkg}/__init__.py` if File.exist? "#{pkg_path}/flows/python/#{pkg}/__init__.py"
-  `rm #{pkg_path}/flows/python/#{pkg}/__init__.pyc` if File.exist? "#{pkg_path}/flows/python/#{pkg}/__init__.pyc"
-else
-  puts "unknown parameter: #{ARGV[0]}"
-end

Modified: pkg/trunk/nav/wavefront_player/wavefront_player.cc
===================================================================
--- pkg/trunk/nav/wavefront_player/wavefront_player.cc	2008-08-26 18:56:03 UTC (rev 3625)
+++ pkg/trunk/nav/wavefront_player/wavefront_player.cc	2008-08-26 18:58:03 UTC (rev 3626)
@@ -292,7 +292,7 @@
         avmax(DTOR(80.0)),
         amin(DTOR(10.0)),
         amax(DTOR(40.0)),
-        tf(*this, true, 1 * 1000000000ULL, 0ULL)
+        tf(*this, true, 1 * 1000000000ULL, 100000000ULL)
         //tf(*this, true, 200000000ULL, 200000000ULL) //nanoseconds
 {
   // set a few parameters. leave defaults just as in the ctor initializer list
@@ -445,11 +445,13 @@
     catch(libTF::TransformReference::LookupException& ex)
     {
       puts("no global->local Tx yet");
+      printf("%s\n", ex.what());
       return;
     }
     catch(libTF::TransformReference::ExtrapolateException& ex)
     {
-      //      puts("extrapolation required");
+      puts("extrapolation required");
+      printf("%s\n", ex.what());
       continue;
     }
 
@@ -591,6 +593,7 @@
   {
     // this should never happen
     puts("WARNING: extrapolation failed!");
+    printf("%s",ex.what());
     this->stopRobot();
     return;
   }


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