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[Personalrobots-commit] SF.net SVN: personalrobots:[4065] pkg/trunk
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From: <hsu...@us...> - 2008-09-09 00:21:06
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Revision: 4065
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=4065&view=rev
Author: hsujohnhsu
Date: 2008-09-09 00:21:15 +0000 (Tue, 09 Sep 2008)
Log Message:
-----------
re-enable headless demo.
Modified Paths:
--------------
pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless.xml
pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/test_actuators.h
pkg/trunk/drivers/simulator/gazebo_plugin/src/test_actuators.cpp
pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_gazebo_test.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_gazebo_test_headless.xml
Modified: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless.xml
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless.xml 2008-09-08 23:58:52 UTC (rev 4064)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless.xml 2008-09-09 00:21:15 UTC (rev 4065)
@@ -7,9 +7,9 @@
<node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
<!-- for visualization -->
- <node pkg="wx_camera_panel" type="standalone_camera.py" args="-i PTZR_image -s PTZR_state -c PTZR_cmd -n PTZR" respawn="false" output="screen" />
- <node pkg="laser_view" type="laser_view" args="scan:=tilt_scan" respawn="false" output="screen" />
- <!--node pkg="ogre_visualizer" type="visualizer_test" respawn="false" output="screen" /--><!-- way too slow, why? -->
+ <node pkg="wx_camera_panel" type="camera_test" args="" respawn="true" output="screen" />
+ <node pkg="laser_view" type="laser_view" args="scan:=tilt_scan" respawn="true" output="screen" />
+ <node pkg="ogre_visualizer" type="visualizer_test" respawn="true" output="screen" />
<!--node pkg="wxpy_ros" type="ros_panel" respawn="false" output="screen" /--><!-- does not start correctly-->
<!-- for manual control -->
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/test_actuators.h
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/test_actuators.h 2008-09-08 23:58:52 UTC (rev 4064)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/test_actuators.h 2008-09-09 00:21:15 UTC (rev 4065)
@@ -148,39 +148,9 @@
//std::string xml_file; // xml filename for the robot
//TiXmlElement *root;
- // JMH: as far as I know, this parsing in mech-control is not functional yet,
- // so I am going to use either:
- // 1. Ioan's parser
- // 2. My own parser to fill out mappings
- //
- // steps are defined below
- // 1. fill in MechanismControl->Robot->Joint (defines robot)
- //std::vector<mechanism::Joint*> mech_joints_;
- //std::vector<mechanism::Transmission*> transmissions_;
- //std::vector<std::string> actuator_names_;
- //std::vector<gazebo::Joint*> gazebo_joints_;
HardwareInterface hw_;
- // 2. fill in HardwareInterface
- // actuators_ is a vector
- // current_time_ is a double
- // 3. fill in MechanismControl->Robot->Transmission->Actuators->ActuatorState (define transmissions)
- // fill in MechanismControl->Robot->Transmission->Actuators->ActuatorCommand
- // 4. fill in MechanismControl->JointController (define controllers)
- // fill in MechanismControl->JointController->*Joints (define joints controlled)
- //
//---------------------------------------------------------------------
- // for gazebo hardware
- //---------------------------------------------------------------------
- // Each joint in joints_ corresponds to the joint with the same
- // index in mech_joints_. The mech_joints_ vector exists so that
- // each transmission has a mechanism::Joint to write to, because it
- // would be best if the transmissions did not depend on Gazebo
- // objects.
- // define a map to keep track of joints mapping from mech to gaz
- // struct robot_to_gazebo_joints_
-
- //---------------------------------------------------------------------
// --
// BELOW IS JOHN'S VERSION OF MECHANISM CONTROL, WAITING ... FOR --
// THE ACTUAL ONE TO BE FUNCTIONAL. --
@@ -210,20 +180,8 @@
double currentTime;
double lastTime;
- // for storing transmission xml
- // struct Robot_transmission_
- // {
- // std::string name;
- // mechanism::SimpleTransmission simple_transmission;
- // gazebo::Joint* gazebo_joints_;
- // };
- //std::vector<Robot_transmission_> robot_transmissions_;
- //std::vector<Robot_transmission_> reverse_robot_transmissions_;
-
-
-
//------------------------------------------------------------
// offsets for frame transform
//------------------------------------------------------------
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/test_actuators.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/test_actuators.cpp 2008-09-08 23:58:52 UTC (rev 4064)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/test_actuators.cpp 2008-09-09 00:21:15 UTC (rev 4065)
@@ -75,11 +75,6 @@
// uses info from wg_robot_description_parser/send.xml
std::string pr2Content;
- // get pr2.xml for Ioan's parser
- //rosnode_->get_param("robotdesc/pr2",pr2Content);
- // parse the big pr2.xml string from ros, or use below so we don't need to roslaunch send.xml
- //pr2Description.loadString(pr2Content.c_str());
-
AdvertiseSubscribeMessages();
}
@@ -167,27 +162,22 @@
//-----------------------------------------------------------------------------------------
TiXmlDocument *pr2_xml = new TiXmlDocument();
TiXmlDocument *controller_xml = new TiXmlDocument();
- //TiXmlDocument *transmission_xml = new TiXmlDocument();
TiXmlDocument *actuator_xml = new TiXmlDocument();
std::string pr2_xml_filename = getenv("MC_RESOURCE_PATH"); pr2_xml_filename += "/"; pr2_xml_filename += node->GetString("robot_filename","",1);
std::string controller_xml_filename = getenv("MC_RESOURCE_PATH"); controller_xml_filename += "/"; controller_xml_filename += node->GetString("controller_filename","",1);
- //std::string transmission_xml_filename = getenv("MC_RESOURCE_PATH"); transmission_xml_filename += "/"; transmission_xml_filename += node->GetString("transmission_filename","",1);
std::string actuator_xml_filename = getenv("MC_RESOURCE_PATH"); actuator_xml_filename += "/"; actuator_xml_filename += node->GetString("actuator_filename","",1);
std::cout << " pr2 robot xml file name: " << pr2_xml_filename << std::endl;
std::cout << " controller file name: " << controller_xml_filename << std::endl;
- //std::cout << " transmission file name: " << transmission_xml_filename << std::endl;
std::cout << " actuator file name: " << actuator_xml_filename << std::endl;
pr2_xml ->LoadFile(pr2_xml_filename);
controller_xml ->LoadFile(controller_xml_filename);
- //transmission_xml->LoadFile(transmission_xml_filename);
actuator_xml ->LoadFile(actuator_xml_filename);
urdf::normalizeXml( pr2_xml->RootElement() );
//urdf::normalizeXml( controller_xml->RootElement() );
- //urdf::normalizeXml( transmission_xml->RootElement() );
//urdf::normalizeXml( actuator_xml->RootElement() );
//-------------------------------------------------------------------------------------------
Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_gazebo_test.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_gazebo_test.xml 2008-09-08 23:58:52 UTC (rev 4064)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_gazebo_test.xml 2008-09-09 00:21:15 UTC (rev 4065)
@@ -12,12 +12,11 @@
<controller:test_actuators name="test_actuators" plugin="libtest_actuators.so">
<updateRate>100.0</updateRate>
+ <!-- used exclusively by test_actuators to find out where these files are, in combination with env var MC_RESOURCE_PATH -->
<include>gazebo_joints.xml</include>
-
<robot_filename>pr2_test_actuators.xml</robot_filename>
<controller_filename>controllers.xml</controller_filename>
<actuator_filename>actuators.xml</actuator_filename>
- <transmission_filename>transmissions.xml</transmission_filename>
<interface:audio name="test_actuators_dummy_iface" />
</controller:test_actuators>
Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_gazebo_test_headless.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_gazebo_test_headless.xml 2008-09-08 23:58:52 UTC (rev 4064)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_gazebo_test_headless.xml 2008-09-09 00:21:15 UTC (rev 4065)
@@ -12,12 +12,11 @@
<controller:test_actuators name="test_actuators" plugin="libtest_actuators.so">
<updateRate>1000.0</updateRate>
+ <!-- used exclusively by test_actuators to find out where these files are, in combination with env var MC_RESOURCE_PATH -->
<include>gazebo_joints.xml</include>
-
<robot_filename>pr2_test_actuators.xml</robot_filename>
<controller_filename>controllers.xml</controller_filename>
<actuator_filename>actuators.xml</actuator_filename>
- <transmission_filename>transmissions.xml</transmission_filename>
<interface:audio name="test_actuators_dummy_iface" />
</controller:test_actuators>
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