Menu
▾
▴
[Personalrobots-commit] SF.net SVN: personalrobots:[4114] pkg/trunk
|
From: <hsu...@us...> - 2008-09-09 21:26:51
|
Revision: 4114
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=4114&view=rev
Author: hsujohnhsu
Date: 2008-09-09 21:27:00 +0000 (Tue, 09 Sep 2008)
Log Message:
-----------
removed dependence on libpr2HW, libpr2API, rosgazebo pr2_gazebo.
move pr2Core into deprecated, awaiting updates to:
pr2_etherDrive - this currently runs on the hardware, we need to remove dependency on pr2Core, though this will be replaced by pr2_etherCAT eventually.
exec_trex, executive_trex_pr2
libKinematics - will be deprecated itself soon
overhead_grasp_behavior
pr2_kinematic_controllers
and following deprecated packages are now broken, but should have no impact on working code.
genericControllers
rosControllers
testControllers
pr2Controllers
old_mechanism_control
pr2_gui
libKDL
Modified Paths:
--------------
pkg/trunk/clean_rosgazebo.scp
pkg/trunk/demos/2dnav-gazebo/manifest.xml
pkg/trunk/drivers/simulator/gazebo_plugin/CMakeLists.txt
pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/P3D.hh
pkg/trunk/drivers/simulator/gazebo_plugin/manifest.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/CMakeLists.txt
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_obs.world
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test_coord.world
pkg/trunk/simulators/simulator_integration_tests/manifest.xml
Added Paths:
-----------
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test_nolimit.world
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test_wg.world
Removed Paths:
-------------
pkg/trunk/drivers/robot/pr2/libpr2API/
pkg/trunk/drivers/robot/pr2/libpr2HW/
pkg/trunk/drivers/robot/pr2/pr2Core/
pkg/trunk/drivers/simulator/gazebo_hardware/
pkg/trunk/drivers/simulator/gazebo_sensors/
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_rosgazebo.world
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_rosgazebo_wg.world
pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_gazebo_rosgazebo.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2_rosgazebo.xml
pkg/trunk/simulators/rosgazebo/include/
pkg/trunk/simulators/rosgazebo/manifest.xml
pkg/trunk/simulators/rosgazebo/run-rosgazebo.sh
pkg/trunk/simulators/rosgazebo/setup.bash
pkg/trunk/simulators/rosgazebo/setup.tcsh
pkg/trunk/simulators/rosgazebo/src/
pkg/trunk/simulators/rosgazebo/srv/
Modified: pkg/trunk/clean_rosgazebo.scp
===================================================================
--- pkg/trunk/clean_rosgazebo.scp 2008-09-09 21:26:57 UTC (rev 4113)
+++ pkg/trunk/clean_rosgazebo.scp 2008-09-09 21:27:00 UTC (rev 4114)
@@ -2,20 +2,11 @@
#clean controllers
(cd `rospack find generic_controllers` ; rm -f lib/* ;make clean)
-(cd `rospack find genericControllers` ; rm -f lib/* ;make clean)
-(cd `rospack find pr2Controllers` ; rm -f lib/* ;make clean)
+(cd `rospack find pr2_controllers` ; rm -f lib/* ;make clean)
-#clean gazebo dependent stuff
-(cd `rospack find libpr2HW` ; rm -f lib/* ;make clean)
-(cd `rospack find libpr2API` ; rm -f lib/* ;make clean)
-
+# clean gazebo plugins
(cd `rospack find gazebo_plugin` ; rm -f lib/* ;make clean)
-(cd `rospack find gazebo_hardware` ; rm -f lib/* ;make clean)
-(cd `rospack find gazebo_sensors` ; rm -f lib/* ;make clean)
-(cd `rospack find rosgazebo` ; rm -f lib/* ;make clean)
-(cd `rospack find pr2_gazebo` ; rm -f lib/* ;make clean)
-
#clean 2dnav stack stuff
(cd `rospack find nav_view` ; rm -f lib/* ;make clean)
(cd `rospack find amcl_player` ; rm -f lib/* ;make clean)
@@ -28,13 +19,17 @@
# clean kinematics
(cd `rospack find libKinematics` ; rm -f lib/* ;make clean)
-(cd `rospack find libKDL` ; rm -f lib/* ;make clean)
(cd `rospack find robot_kinematics` ; rm -f lib/* ;make clean)
# clean visualization
(cd `rospack find irrlicht_viewer` ; rm -f lib/* ;make clean)
(cd `rospack find cloud_viewer` ; rm -f lib/* ;make clean)
+(cd `rospack find ogre_visualizer` ; rm -f lib/* ;make clean)
+# clean mechanism control
+(cd `rospack find mechanism_control` ; rm -f lib/* ;make clean)
+(cd `rospack find mechanism_model` ; rm -f lib/* ;make clean)
+
# note for users
echo "if gazebo still functions incorrectly, please perform a make wipe in 3rdparty/gazebo directory."
echo "now, to rebuild everything again, do rosmake 2dnav-gazebo, or some subset of stuff."
Modified: pkg/trunk/demos/2dnav-gazebo/manifest.xml
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/manifest.xml 2008-09-09 21:26:57 UTC (rev 4113)
+++ pkg/trunk/demos/2dnav-gazebo/manifest.xml 2008-09-09 21:27:00 UTC (rev 4114)
@@ -9,7 +9,6 @@
<depend package="map_server"/>
<depend package="amcl_player"/>
<depend package="fake_localization"/>
- <depend package="pr2_gazebo"/>
<depend package="wavefront_player"/>
<depend package="teleop_base_keyboard"/>
<depend package="teleop_arm_keyboard"/>
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/CMakeLists.txt
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/CMakeLists.txt 2008-09-09 21:26:57 UTC (rev 4113)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/CMakeLists.txt 2008-09-09 21:27:00 UTC (rev 4114)
@@ -7,11 +7,11 @@
include_directories(srv/cpp)
add_definitions(-Wall)
-rospack_add_library(Pr2_Actarray src/Pr2_Actarray.cc)
-rospack_add_library(Pr2_Gripper src/Pr2_Gripper.cc)
+#rospack_add_library(Pr2_Actarray src/Pr2_Actarray.cc)
+#rospack_add_library(Pr2_Gripper src/Pr2_Gripper.cc)
rospack_add_library(Ros_Camera src/Ros_Camera.cc)
rospack_add_library(Ros_Laser src/Ros_Laser.cc)
-rospack_add_library(Ros_Node src/Ros_Node.cc)
+#rospack_add_library(Ros_Node src/Ros_Node.cc)
rospack_add_library(Ros_PTZ src/Ros_PTZ.cc)
rospack_add_library(P3D src/P3D.cc)
rospack_add_library(gazebo_actuators src/gazebo_actuators.cpp)
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/P3D.hh
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/P3D.hh 2008-09-09 21:26:57 UTC (rev 4113)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/P3D.hh 2008-09-09 21:27:00 UTC (rev 4114)
@@ -29,7 +29,6 @@
#include <gazebo/Controller.hh>
#include <gazebo/Entity.hh>
-#include <pr2Core/pr2Core.h>
#include <ros/node.h>
#include <std_msgs/Pose3DStamped.h>
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/manifest.xml
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/manifest.xml 2008-09-09 21:26:57 UTC (rev 4113)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/manifest.xml 2008-09-09 21:27:00 UTC (rev 4114)
@@ -10,7 +10,6 @@
<url>http://pr.willowgarage.com</url>
<depend package="gazebo"/>
<depend package="opende"/>
-<depend package="pr2Core"/>
<depend package="newmat10"/>
<depend package="generic_controllers"/>
<depend package="pr2_controllers"/>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/CMakeLists.txt
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/CMakeLists.txt 2008-09-09 21:26:57 UTC (rev 4113)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/CMakeLists.txt 2008-09-09 21:27:00 UTC (rev 4114)
@@ -18,21 +18,16 @@
DEPENDS urdf2gazebo
COMMENT "Building Gazebo model for PR2 Standard Model")
-add_custom_target(pr2_gazebo_model_nolimit_rosgazebo ALL
- COMMAND ${urdf2gazebo_exe} ${wg_robot_description_PACKAGE_PATH}/pr2/pr2_rosgazebo.xml ${gazebo_robot_description_PACKAGE_PATH}/world/pr2_xml_nolimit.model 1
- DEPENDS urdf2gazebo
- COMMENT "Building Gazebo model for PR2 Rosgazebo Model without Joint Limits for Kinematics")
-
-add_custom_target(pr2_gazebo_model_rosgazebo ALL
- COMMAND ${urdf2gazebo_exe} ${wg_robot_description_PACKAGE_PATH}/pr2/pr2_rosgazebo.xml ${gazebo_robot_description_PACKAGE_PATH}/world/pr2_xml_rosgazebo.model
- DEPENDS urdf2gazebo
- COMMENT "Building Gazebo model for PR2 Rosgazebo Model")
-
add_custom_target(pr2_gazebo_model_test ALL
COMMAND ${urdf2gazebo_exe} ${wg_robot_description_PACKAGE_PATH}/pr2/pr2_test_actuators.xml ${gazebo_robot_description_PACKAGE_PATH}/world/pr2_xml_test.model
DEPENDS urdf2gazebo
COMMENT "Building Gazebo model for PR2 Test Actuators")
+add_custom_target(pr2_gazebo_model_nolimit_test ALL
+ COMMAND ${urdf2gazebo_exe} ${wg_robot_description_PACKAGE_PATH}/pr2/pr2_test_actuators.xml ${gazebo_robot_description_PACKAGE_PATH}/world/pr2_xml_nolimit_test.model 1
+ DEPENDS urdf2gazebo
+ COMMENT "Building Gazebo model for PR2 Test Actuators with no limits")
+
add_custom_target(pr2_gazebo_model_arm_test ALL
COMMAND ${urdf2gazebo_exe} ${wg_robot_description_PACKAGE_PATH}/pr2_arm_test/pr2_arm_test.xml ${gazebo_robot_description_PACKAGE_PATH}/world/pr2_xml_arm_test.model
DEPENDS urdf2gazebo
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_obs.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_obs.world 2008-09-09 21:26:57 UTC (rev 4113)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_obs.world 2008-09-09 21:27:00 UTC (rev 4114)
@@ -346,7 +346,7 @@
<!-- base, torso and arms -->
<include embedded="true">
- <xi:include href="pr2_xml_rosgazebo.model" />
+ <xi:include href="pr2_xml_test.model" />
</include>
</model:physical>
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_rosgazebo.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_rosgazebo.world 2008-09-09 21:26:57 UTC (rev 4113)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_rosgazebo.world 2008-09-09 21:27:00 UTC (rev 4114)
@@ -1,331 +0,0 @@
-<?xml version="1.0"?>
-
-<gazebo:world
- xmlns:xi="http://www.w3.org/2001/XInclude"
- xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
- xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window"
- xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param"
- xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
- xmlns:geo="http://willowgarage.com/xmlschema/#geo"
- xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
- xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
- xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"
- xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
- xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" >
-
- <verbosity>5</verbosity>
-
-<!-- cfm is 1e-5 for single precision -->
-<!-- erp is typically .1-.8 -->
-<!-- here's the global contact cfm/erp -->
- <physics:ode>
- <stepTime>0.01</stepTime>
- <gravity>0 0 -9.8</gravity>
- <cfm>0.0000000001</cfm>
- <erp>0.2</erp>
- </physics:ode>
-
- <geo:origin>
- <lat>37.4270909558</lat><lon>-122.077919338</lon>
- </geo:origin>
-
- <rendering:gui>
- <type>fltk</type>
- <size>1024 800</size>
- <pos>0 0</pos>
- </rendering:gui>
-
-
- <rendering:ogre>
- <ambient>1.0 1.0 1.0 1.0</ambient>
- <sky>
- <material>Gazebo/CloudySky</material>
- </sky>
- <gazeboPath>media</gazeboPath>
- <grid>false</grid>
- <maxUpdateRate>100</maxUpdateRate>
- </rendering:ogre>
-
-
- <model:physical name="gplane">
- <xyz>0 0 0</xyz>
- <rpy>0 0 0</rpy>
- <static>true</static>
-
- <body:plane name="plane">
- <geom:plane name="plane">
- <kp>1000000.0</kp>
- <kd>1.0</kd>
- <normal>0 0 1</normal>
- <size>51.3 51.3</size>
- <!-- map3.png -->
- <material>PR2/floor_texture</material>
- </geom:plane>
- </body:plane>
- </model:physical>
-
- <!--
- <model:empty name="ros_model">
- <body:empty name="ros_body">
- <controller:ros_node name="ros_node" plugin="libRos_Node.so">
- <nodeName>simulator_ros_node</nodeName>
- </controller:ros_node>
- </body:empty>
- </model:empty>
- -->
-
- <!-- The "desk"-->
- <model:physical name="desk1_model">
- <xyz> 2.28 -0.21 -0.10</xyz>
- <rpy> 0.0 0.0 0.00</rpy>
- <body:box name="desk1_legs_body">
- <geom:box name="desk1_legs_geom">
- <kp>100000000.0</kp>
- <kd>1.0</kd>
- <xyz> 0.0 0.0 0.50</xyz>
- <mesh>default</mesh>
- <size>0.5 1.0 0.75</size>
- <mass> 10.0</mass>
- <visual>
- <size> 0.5 1.0 0.75</size>
- <material>Gazebo/Rocky</material>
- <mesh>unit_box</mesh>
- </visual>
- </geom:box>
- <geom:box name="desk1_top_geom">
- <kp>100000000.0</kp>
- <kd>0.1</kd>
- <xyz> 0.0 0.0 0.90</xyz>
- <mesh>default</mesh>
- <size>0.75 1.5 0.05</size>
- <mass> 10.0</mass>
- <visual>
- <size> 0.75 1.5 0.05</size>
- <material>Gazebo/Rocky</material>
- <mesh>unit_box</mesh>
- </visual>
- </geom:box>
- </body:box>
- </model:physical>
-
- <!-- The second "desk"-->
- <model:physical name="desk2_model">
- <xyz> 2.25 -3.0 -0.10</xyz>
- <rpy> 0.0 0.0 0.00</rpy>
- <body:box name="desk2_legs_body">
- <geom:box name="desk2_legs_geom">
- <kp>1000000.0</kp>
- <kd>1.0</kd>
- <xyz> 0.0 0.0 0.50</xyz>
- <mesh>default</mesh>
- <size>0.5 1.0 0.75</size>
- <mass> 10.0</mass>
- <visual>
- <size> 0.5 1.0 0.75</size>
- <material>Gazebo/Rocky</material>
- <mesh>unit_box</mesh>
- </visual>
- </geom:box>
- <geom:box name="desk2_top_geom">
- <kp>1000000.0</kp>
- <kd>1.0</kd>
- <xyz> 0.0 0.0 0.90</xyz>
- <mesh>default</mesh>
- <size>0.75 1.5 0.05</size>
- <mass> 10.0</mass>
- <visual>
- <size> 0.75 1.5 0.05</size>
- <material>Gazebo/Rocky</material>
- <mesh>unit_box</mesh>
- </visual>
- </geom:box>
- </body:box>
- </model:physical>
-
- <!-- The small cylinder "cup" -->
- <model:physical name="cylinder1_model">
- <xyz> 2.5 0.0 0.9</xyz>
- <rpy> 0.0 0.0 0.0</rpy>
- <body:cylinder name="cylinder1_body">
- <geom:cylinder name="cylinder1_geom">
- <kp>100000000.0</kp>
- <kd>0.1</kd>
- <mesh>default</mesh>
- <size>0.025 0.075</size>
- <mass> 0.05</mass>
- <visual>
- <size> 0.05 0.05 0.075</size>
- <material>Gazebo/PioneerBody</material>
- <mesh>unit_cylinder</mesh>
- </visual>
- </geom:cylinder>
- <geom:box name="cylinder1_base_geom">
- <kp>100000000.0</kp>
- <kd>0.1</kd>
- <mesh>default</mesh>
- <xyz>0.0 0.0 -0.033</xyz>
- <size>0.05 0.05 0.01</size>
- <mass> 0.01</mass>
- <visual>
- <size> 0.05 0.05 0.01</size>
- <material>Gazebo/Fish</material>
- <mesh>unit_box</mesh>
- </visual>
- </geom:box>
- </body:cylinder>
- </model:physical>
-
- <!-- The small box "cup" -->
- <model:physical name="object1_model">
- <xyz> 0.835 -0.55 0.95</xyz>
- <rpy> 0.0 0.0 30.0</rpy>
- <body:box name="object1_body">
- <geom:box name="object1_geom">
- <kp>100000000.0</kp>
- <kd>0.1</kd>
- <mesh>default</mesh>
- <size>0.1 0.03 0.03</size>
- <mass> 0.05</mass>
- <visual>
- <size> 0.1 0.030 0.03</size>
- <material>Gazebo/PioneerBody</material>
- <mesh>unit_box</mesh>
- </visual>
- </geom:box>
- </body:box>
-
- <controller:P3D name="p3d_object_controller" plugin="libP3D.so">
- <updateRate>100.0</updateRate>
- <bodyName>object1_body</bodyName>
- <interface:position name="p3d_object_position"/>
- </controller:P3D>
-
- </model:physical>
-
-
- <!-- The small ball -->
- <model:physical name="sphere1_model">
- <xyz> 2.5 -2.8 1.0</xyz>
- <rpy> 0.0 0.0 0.0</rpy>
- <body:sphere name="sphere1_body">
- <geom:sphere name="sphere1_geom">
- <kp>1000000.0</kp>
- <kd>1.0</kd>
- <mesh>default</mesh>
- <size> 0.15</size>
- <mass> 1.0</mass>
- <visual>
- <size> 0.3 0.3 0.3</size>
- <material>Gazebo/PioneerBody</material>
- <mesh>unit_sphere</mesh>
- </visual>
- </geom:sphere>
- </body:sphere>
- </model:physical>
-
- <!-- The large ball map3.png -->
- <model:physical name="sphere2_model">
- <xyz> 5.85 4.35 1.55</xyz>
- <rpy> 0.0 0.0 0.0</rpy>
- <body:sphere name="sphere2_body">
- <geom:sphere name="sphere2_geom">
- <kp>1000000.0</kp>
- <kd>1.0</kd>
- <mesh>default</mesh>
- <size> 1.0</size>
- <mass> 1.0</mass>
- <visual>
- <size> 2.0 2.0 2.0</size>
- <material>Gazebo/Rocky</material>
- <mesh>unit_sphere</mesh>
- </visual>
- </geom:sphere>
- </body:sphere>
- </model:physical>
-
- <!-- The wall in front map3.png -->
- <model:physical name="wall_2_model">
- <xyz> 11.6 -1.55 1.0</xyz>
- <rpy> 0.0 0.0 0.0</rpy>
- <static>true</static>
- <body:box name="wall_2_body">
- <geom:box name="wall_2_geom">
- <mesh>default</mesh>
- <size>2.1 32.8 2.0</size>
- <visual>
- <size>2.1 32.8 2.0</size>
- <material>Gazebo/PioneerBody</material>
- <mesh>unit_box</mesh>
- </visual>
- </geom:box>
- </body:box>
- </model:physical>
-
- <!-- The wall behind -->
- <model:physical name="wall_1_model">
- <xyz> -11.3 -1.45 1.0</xyz>
- <rpy> 0.0 0.0 0.0</rpy>
- <static>true</static>
- <body:box name="wall_1_body">
- <geom:box name="wall_1_geom">
- <mesh>default</mesh>
- <size>0.4 24.0 2.0</size>
- <visual>
- <size>0.4 24.0 2.0</size>
- <material>Gazebo/PioneerBody</material>
- <mesh>unit_box</mesh>
- </visual>
- </geom:box>
- </body:box>
- </model:physical>
-
- <!-- The wall 3 -->
- <model:physical name="wall_3_model">
- <xyz> 6.7 8.05 1.0</xyz>
- <rpy> 0.0 0.0 0.0</rpy>
- <static>true</static>
- <body:box name="wall_3_body">
- <geom:box name="wall_3_geom">
- <mesh>default</mesh>
- <size>7.5 1.2 2.0</size>
- <visual>
- <size>7.5 1.2 2.0</size>
- <material>Gazebo/Chrome</material>
- <mesh>unit_box</mesh>
- </visual>
- </geom:box>
- </body:box>
- </model:physical>
-
-
-
- <model:physical name="robot_model1">
- <xyz>0.0 0.0 0.02</xyz> <!-- bottom of base off the ground by this much, basically wheel height below skirt -->
- <rpy>0.0 0.0 0.0 </rpy>
-
- <!-- base, torso and arms -->
- <include embedded="true">
- <xi:include href="pr2_xml_rosgazebo.model" />
- </include>
-
- </model:physical>
-
-
- <!-- White Directional light -->
- <model:renderable name="directional_white">
- <light>
- <type>directional</type>
- <direction>0 -0.5 -0.5</direction>
- <diffuseColor>0.4 0.4 0.4</diffuseColor>
- <specularColor>0.0 0.0 0.0</specularColor>
- <attenuation>1 0.0 1.0 0.4</attenuation>
- </light>
- </model:renderable>
-
-
-</gazebo:world>
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_rosgazebo_wg.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_rosgazebo_wg.world 2008-09-09 21:26:57 UTC (rev 4113)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_rosgazebo_wg.world 2008-09-09 21:27:00 UTC (rev 4114)
@@ -1,120 +0,0 @@
-<?xml version="1.0"?>
-
-<gazebo:world
- xmlns:xi="http://www.w3.org/2001/XInclude"
- xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
- xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window"
- xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param"
- xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
- xmlns:geo="http://willowgarage.com/xmlschema/#geo"
- xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
- xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
- xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"
- xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
- xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" >
-
- <verbosity>5</verbosity>
-
-<!-- cfm is 1e-5 for single precision -->
-<!-- erp is typically .1-.8 -->
-<!-- here's the global contact cfm/erp -->
- <physics:ode>
- <stepTime>0.01</stepTime>
- <gravity>0 0 -9.8</gravity>
- <cfm>0.0000000001</cfm>
- <erp>0.2</erp>
- </physics:ode>
-
- <geo:origin>
- <lat>37.4270909558</lat><lon>-122.077919338</lon>
- </geo:origin>
-
- <rendering:gui>
- <type>fltk</type>
- <size>1024 800</size>
- <pos>0 0</pos>
- </rendering:gui>
-
-
- <rendering:ogre>
- <ambient>1.0 1.0 1.0 1.0</ambient>
- <sky>
- <material>Gazebo/CloudySky</material>
- </sky>
- <gazeboPath>media</gazeboPath>
- <grid>false</grid>
- <maxUpdateRate>100</maxUpdateRate>
- </rendering:ogre>
-
- <model:physical name="gplane">
- <xyz>0 0 0</xyz>
- <rpy>0 0 0</rpy>
- <static>true</static>
-
- <body:plane name="plane">
- <geom:plane name="plane">
- <kp>1000000.0</kp>
- <kd>1.0</kd>
- <normal>0 0 1</normal>
- <size>51.3 51.3</size>
- <material>Gazebo/GrassFloor</material>
- </geom:plane>
- </body:plane>
- </model:physical>
-
-<!--
- <model:physical name="walls">
- <include embedded="false">
- <xi:include href="willow-walls.model" />
- </include>
- </model:physical>
--->
- <model:physical name="map">
- <xyz>-25.65 25.65 1.0</xyz>
- <rpy>180 0 0</rpy>
- <body:map name="map_body">
- <geom:map name="map_geom">
- <image>willowMap.png</image>
- <threshold>200</threshold>
- <granularity>2</granularity>
- <negative>false</negative>
- <scale>0.1</scale>
- <offset>0 0 0</offset>
- <material>Gazebo/Rocky</material>
- </geom:map>
- </body:map>
- </model:physical>
-
-
- <model:physical name="robot_model1">
- <xyz>0.0 0.0 0.02</xyz> <!-- bottom of base off the ground by this much, basically wheel height below skirt -->
- <rpy>0.0 0.0 0.0 </rpy>
-
- <!-- base, torso and arms -->
- <include embedded="true">
- <xi:include href="pr2_xml_rosgazebo.model" />
- </include>
-
- </model:physical>
-
-
- <!-- White Directional light -->
- <!--
- <model:renderable name="directional_white">
- <light>
- <type>directional</type>
- <direction>0 -0.5 -0.5</direction>
- <diffuseColor>0.4 0.4 0.4</diffuseColor>
- <specularColor>0.0 0.0 0.0</specularColor>
- <attenuation>1 0.0 1.0 0.4</attenuation>
- </light>
- </model:renderable>
- -->
-
-
-</gazebo:world>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test_coord.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test_coord.world 2008-09-09 21:26:57 UTC (rev 4113)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test_coord.world 2008-09-09 21:27:00 UTC (rev 4114)
@@ -346,7 +346,7 @@
<!-- base, torso and arms -->
<include embedded="true">
- <xi:include href="pr2_xml_rosgazebo.model" />
+ <xi:include href="pr2_xml_test.model" />
</include>
</model:physical>
Added: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test_nolimit.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test_nolimit.world (rev 0)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test_nolimit.world 2008-09-09 21:27:00 UTC (rev 4114)
@@ -0,0 +1,332 @@
+<?xml version="1.0"?>
+
+<gazebo:world
+ xmlns:xi="http://www.w3.org/2001/XInclude"
+ xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window"
+ xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param"
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+ xmlns:geo="http://willowgarage.com/xmlschema/#geo"
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+ xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"
+ xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+ xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" >
+
+ <verbosity>5</verbosity>
+
+<!-- cfm is 1e-5 for single precision -->
+<!-- erp is typically .1-.8 -->
+<!-- here's the global contact cfm/erp -->
+ <physics:ode>
+ <stepTime>0.01</stepTime>
+ <gravity>0 0 -9.8</gravity>
+ <cfm>0.0000000001</cfm>
+ <erp>0.2</erp>
+ <quickStep>false</quickStep>
+ </physics:ode>
+
+ <geo:origin>
+ <lat>37.4270909558</lat><lon>-122.077919338</lon>
+ </geo:origin>
+
+ <rendering:gui>
+ <type>fltk</type>
+ <size>1024 800</size>
+ <pos>0 0</pos>
+ </rendering:gui>
+
+
+ <rendering:ogre>
+ <ambient>1.0 1.0 1.0 1.0</ambient>
+ <sky>
+ <material>Gazebo/CloudySky</material>
+ </sky>
+ <gazeboPath>media</gazeboPath>
+ <grid>false</grid>
+ <maxUpdateRate>100</maxUpdateRate>
+ </rendering:ogre>
+
+
+ <model:physical name="gplane">
+ <xyz>0 0 0</xyz>
+ <rpy>0 0 0</rpy>
+ <static>true</static>
+
+ <body:plane name="plane">
+ <geom:plane name="plane">
+ <kp>1000000.0</kp>
+ <kd>1.0</kd>
+ <normal>0 0 1</normal>
+ <size>51.3 51.3</size>
+ <!-- map3.png -->
+ <material>PR2/floor_texture</material>
+ </geom:plane>
+ </body:plane>
+ </model:physical>
+
+ <!--
+ <model:empty name="ros_model">
+ <body:empty name="ros_body">
+ <controller:ros_node name="ros_node" plugin="libRos_Node.so">
+ <nodeName>simulator_ros_node</nodeName>
+ </controller:ros_node>
+ </body:empty>
+ </model:empty>
+ -->
+
+ <!-- The "desk"-->
+ <model:physical name="desk1_model">
+ <xyz> 2.28 -0.21 -0.10</xyz>
+ <rpy> 0.0 0.0 0.00</rpy>
+ <body:box name="desk1_legs_body">
+ <geom:box name="desk1_legs_geom">
+ <kp>100000000.0</kp>
+ <kd>1.0</kd>
+ <xyz> 0.0 0.0 0.50</xyz>
+ <mesh>default</mesh>
+ <size>0.5 1.0 0.75</size>
+ <mass> 10.0</mass>
+ <visual>
+ <size> 0.5 1.0 0.75</size>
+ <material>Gazebo/Rocky</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ <geom:box name="desk1_top_geom">
+ <kp>100000000.0</kp>
+ <kd>0.1</kd>
+ <xyz> 0.0 0.0 0.90</xyz>
+ <mesh>default</mesh>
+ <size>0.75 1.5 0.05</size>
+ <mass> 10.0</mass>
+ <visual>
+ <size> 0.75 1.5 0.05</size>
+ <material>Gazebo/Rocky</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <!-- The second "desk"-->
+ <model:physical name="desk2_model">
+ <xyz> 2.25 -3.0 -0.10</xyz>
+ <rpy> 0.0 0.0 0.00</rpy>
+ <body:box name="desk2_legs_body">
+ <geom:box name="desk2_legs_geom">
+ <kp>1000000.0</kp>
+ <kd>1.0</kd>
+ <xyz> 0.0 0.0 0.50</xyz>
+ <mesh>default</mesh>
+ <size>0.5 1.0 0.75</size>
+ <mass> 10.0</mass>
+ <visual>
+ <size> 0.5 1.0 0.75</size>
+ <material>Gazebo/Rocky</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ <geom:box name="desk2_top_geom">
+ <kp>1000000.0</kp>
+ <kd>1.0</kd>
+ <xyz> 0.0 0.0 0.90</xyz>
+ <mesh>default</mesh>
+ <size>0.75 1.5 0.05</size>
+ <mass> 10.0</mass>
+ <visual>
+ <size> 0.75 1.5 0.05</size>
+ <material>Gazebo/Rocky</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <!-- The small cylinder "cup" -->
+ <model:physical name="cylinder1_model">
+ <xyz> 2.5 0.0 0.9</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
+ <body:cylinder name="cylinder1_body">
+ <geom:cylinder name="cylinder1_geom">
+ <kp>100000000.0</kp>
+ <kd>0.1</kd>
+ <mesh>default</mesh>
+ <size>0.025 0.075</size>
+ <mass> 0.05</mass>
+ <visual>
+ <size> 0.05 0.05 0.075</size>
+ <material>Gazebo/PioneerBody</material>
+ <mesh>unit_cylinder</mesh>
+ </visual>
+ </geom:cylinder>
+ <geom:box name="cylinder1_base_geom">
+ <kp>100000000.0</kp>
+ <kd>0.1</kd>
+ <mesh>default</mesh>
+ <xyz>0.0 0.0 -0.033</xyz>
+ <size>0.05 0.05 0.01</size>
+ <mass> 0.01</mass>
+ <visual>
+ <size> 0.05 0.05 0.01</size>
+ <material>Gazebo/Fish</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:cylinder>
+ </model:physical>
+
+ <!-- The small box "cup" -->
+ <model:physical name="object1_model">
+ <xyz> 0.835 -0.55 0.95</xyz>
+ <rpy> 0.0 0.0 30.0</rpy>
+ <body:box name="object1_body">
+ <geom:box name="object1_geom">
+ <kp>100000000.0</kp>
+ <kd>0.1</kd>
+ <mesh>default</mesh>
+ <size>0.1 0.03 0.03</size>
+ <mass> 0.05</mass>
+ <visual>
+ <size> 0.1 0.030 0.03</size>
+ <material>Gazebo/PioneerBody</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+
+ <controller:P3D name="p3d_object_controller" plugin="libP3D.so">
+ <updateRate>100.0</updateRate>
+ <bodyName>object1_body</bodyName>
+ <interface:position name="p3d_object_position"/>
+ </controller:P3D>
+
+ </model:physical>
+
+
+ <!-- The small ball -->
+ <model:physical name="sphere1_model">
+ <xyz> 2.5 -2.8 1.0</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
+ <body:sphere name="sphere1_body">
+ <geom:sphere name="sphere1_geom">
+ <kp>1000000.0</kp>
+ <kd>1.0</kd>
+ <mesh>default</mesh>
+ <size> 0.15</size>
+ <mass> 1.0</mass>
+ <visual>
+ <size> 0.3 0.3 0.3</size>
+ <material>Gazebo/PioneerBody</material>
+ <mesh>unit_sphere</mesh>
+ </visual>
+ </geom:sphere>
+ </body:sphere>
+ </model:physical>
+
+ <!-- The large ball map3.png -->
+ <model:physical name="sphere2_model">
+ <xyz> 5.85 4.35 1.55</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
+ <body:sphere name="sphere2_body">
+ <geom:sphere name="sphere2_geom">
+ <kp>1000000.0</kp>
+ <kd>1.0</kd>
+ <mesh>default</mesh>
+ <size> 1.0</size>
+ <mass> 1.0</mass>
+ <visual>
+ <size> 2.0 2.0 2.0</size>
+ <material>Gazebo/Rocky</material>
+ <mesh>unit_sphere</mesh>
+ </visual>
+ </geom:sphere>
+ </body:sphere>
+ </model:physical>
+
+ <!-- The wall in front map3.png -->
+ <model:physical name="wall_2_model">
+ <xyz> 11.6 -1.55 1.0</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:box name="wall_2_body">
+ <geom:box name="wall_2_geom">
+ <mesh>default</mesh>
+ <size>2.1 32.8 2.0</size>
+ <visual>
+ <size>2.1 32.8 2.0</size>
+ <material>Gazebo/PioneerBody</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <!-- The wall behind -->
+ <model:physical name="wall_1_model">
+ <xyz> -11.3 -1.45 1.0</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:box name="wall_1_body">
+ <geom:box name="wall_1_geom">
+ <mesh>default</mesh>
+ <size>0.4 24.0 2.0</size>
+ <visual>
+ <size>0.4 24.0 2.0</size>
+ <material>Gazebo/PioneerBody</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <!-- The wall 3 -->
+ <model:physical name="wall_3_model">
+ <xyz> 6.7 8.05 1.0</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:box name="wall_3_body">
+ <geom:box name="wall_3_geom">
+ <mesh>default</mesh>
+ <size>7.5 1.2 2.0</size>
+ <visual>
+ <size>7.5 1.2 2.0</size>
+ <material>Gazebo/Chrome</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+
+
+ <model:physical name="robot_model1">
+ <xyz>0.0 0.0 0.05</xyz> <!-- bottom of base off the ground by this much, basically wheel height below skirt -->
+ <rpy>0.0 0.0 0.0 </rpy>
+
+ <!-- base, torso and arms -->
+ <include embedded="true">
+ <xi:include href="pr2_xml_nolimit_test.model" />
+ </include>
+
+ </model:physical>
+
+
+ <!-- White Directional light -->
+ <model:renderable name="directional_white">
+ <light>
+ <type>directional</type>
+ <direction>0 -0.5 -0.5</direction>
+ <diffuseColor>0.4 0.4 0.4</diffuseColor>
+ <specularColor>0.0 0.0 0.0</specularColor>
+ <attenuation>1 0.0 1.0 0.4</attenuation>
+ </light>
+ </model:renderable>
+
+
+</gazebo:world>
Copied: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test_wg.world (from rev 4105, pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_rosgazebo_wg.world)
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test_wg.world (rev 0)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test_wg.world 2008-09-09 21:27:00 UTC (rev 4114)
@@ -0,0 +1,120 @@
+<?xml version="1.0"?>
+
+<gazebo:world
+ xmlns:xi="http://www.w3.org/2001/XInclude"
+ xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window"
+ xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param"
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+ xmlns:geo="http://willowgarage.com/xmlschema/#geo"
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+ xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"
+ xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+ xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" >
+
+ <verbosity>5</verbosity>
+
+<!-- cfm is 1e-5 for single precision -->
+<!-- erp is typically .1-.8 -->
+<!-- here's the global contact cfm/erp -->
+ <physics:ode>
+ <stepTime>0.01</stepTime>
+ <gravity>0 0 -9.8</gravity>
+ <cfm>0.0000000001</cfm>
+ <erp>0.2</erp>
+ </physics:ode>
+
+ <geo:origin>
+ <lat>37.4270909558</lat><lon>-122.077919338</lon>
+ </geo:origin>
+
+ <rendering:gui>
+ <type>fltk</type>
+ <size>1024 800</size>
+ <pos>0 0</pos>
+ </rendering:gui>
+
+
+ <rendering:ogre>
+ <ambient>1.0 1.0 1.0 1.0</ambient>
+ <sky>
+ <material>Gazebo/CloudySky</material>
+ </sky>
+ <gazeboPath>media</gazeboPath>
+ <grid>false</grid>
+ <maxUpdateRate>100</maxUpdateRate>
+ </rendering:ogre>
+
+ <model:physical name="gplane">
+ <xyz>0 0 0</xyz>
+ <rpy>0 0 0</rpy>
+ <static>true</static>
+
+ <body:plane name="plane">
+ <geom:plane name="plane">
+ <kp>1000000.0</kp>
+ <kd>1.0</kd>
+ <normal>0 0 1</normal>
+ <size>51.3 51.3</size>
+ <material>Gazebo/GrassFloor</material>
+ </geom:plane>
+ </body:plane>
+ </model:physical>
+
+<!--
+ <model:physical name="walls">
+ <include embedded="false">
+ <xi:include href="willow-walls.model" />
+ </include>
+ </model:physical>
+-->
+ <model:physical name="map">
+ <xyz>-25.65 25.65 1.0</xyz>
+ <rpy>180 0 0</rpy>
+ <body:map name="map_body">
+ <geom:map name="map_geom">
+ <image>willowMap.png</image>
+ <threshold>200</threshold>
+ <granularity>2</granularity>
+ <negative>false</negative>
+ <scale>0.1</scale>
+ <offset>0 0 0</offset>
+ <material>Gazebo/Rocky</material>
+ </geom:map>
+ </body:map>
+ </model:physical>
+
+
+ <model:physical name="robot_model1">
+ <xyz>0.0 0.0 0.02</xyz> <!-- bottom of base off the ground by this much, basically wheel height below skirt -->
+ <rpy>0.0 0.0 0.0 </rpy>
+
+ <!-- base, torso and arms -->
+ <include embedded="true">
+ <xi:include href="pr2_xml_test.model" />
+ </include>
+
+ </model:physical>
+
+
+ <!-- White Directional light -->
+ <!--
+ <model:renderable name="directional_white">
+ <light>
+ <type>directional</type>
+ <direction>0 -0.5 -0.5</direction>
+ <diffuseColor>0.4 0.4 0.4</diffuseColor>
+ <specularColor>0.0 0.0 0.0</specularColor>
+ <attenuation>1 0.0 1.0 0.4</attenuation>
+ </light>
+ </model:renderable>
+ -->
+
+
+</gazebo:world>
Deleted: pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_gazebo_rosgazebo.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_gazebo_rosgazebo.xml 2008-09-09 21:26:57 UTC (rev 4113)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_gazebo_rosgazebo.xml 2008-09-09 21:27:00 UTC (rev 4114)
@@ -1,345 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="pr2"><!-- name of the robot-->
-
-<map name="controllers" flag="gazebo"> <!-- we can set a name too, but the convertor only cares about the type -->
- <verbatim key="controllers"> <!-- The key attribute is needed noly if multiple <xml> tags are in the same <data> tag -->
-
- <!-- ptz camera controls -->
- <controller:generic_ptz name="ptz_cam_left_controller">
- <updateRate>15.0</updateRate> <!-- rate not implemented in gazebo yet-->
- <panJoint>ptz_pan_left_joint</panJoint>
- <tiltJoint>ptz_tilt_left_joint</tiltJoint>
- <interface:ptz name="ptz_left_iface" />
- </controller:generic_ptz>
-
- <controller:generic_ptz name="ptz_cam_right_controller">
- <updateRate>15.0</updateRate> <!-- rate not implemented in gazebo yet-->
- <panJoint>ptz_pan_right_joint</panJoint>
- <tiltJoint>ptz_tilt_right_joint</tiltJoint>
- <interface:ptz name="ptz_right_iface" />
- </controller:generic_ptz>
-
- <!-- PR2_ACTARRAY -->
- <controller:pr2_actarray name="pr2_controller" plugin="libPr2_Actarray.so">
- <updateRate>100.0</updateRate>
- <!-- caster array -->
- <joint name="caster_front_left_joint">
- <saturationTorque>1000</saturationTorque>
- <pGain>2</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
- <controlMode>PD_CONTROL</controlMode>
- </joint>
- <joint name="wheel_front_left_l_joint">
- <saturationTorque>5</saturationTorque>
- <pGain>0.5</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- </joint>
- <joint name="wheel_front_left_r_joint">
- <saturationTorque>5</saturationTorque>
- <pGain>0.5</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- </joint>
- <joint name="caster_front_right_joint">
- <saturationTorque>1000</saturationTorque>
- <pGain>2</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
- <controlMode>PD_CONTROL</controlMode>
- </joint>
- <joint name="wheel_front_right_l_joint">
- <saturationTorque>5</saturationTorque>
- <pGain>0.5</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- </joint>
- <joint name="wheel_front_right_r_joint">
- <saturationTorque>5</saturationTorque>
- <pGain>0.5</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- </joint>
- <joint name="caster_rear_left_joint">
- <saturationTorque>1000</saturationTorque>
- <pGain>2</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
- <controlMode>PD_CONTROL</controlMode>
- </joint>
- <joint name="wheel_rear_left_l_joint">
- <saturationTorque>5</saturationTorque>
- <pGain>0.5</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- </joint>
- <joint name="wheel_rear_left_r_joint">
- <saturationTorque>5</saturationTorque>
- <pGain>0.5</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- </joint>
- <joint name="caster_rear_right_joint">
- <saturationTorque>1000</saturationTorque>
- <pGain>2</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
- <controlMode>PD_CONTROL</controlMode>
- </joint>
- <joint name="wheel_rear_right_l_joint">
- <saturationTorque>5</saturationTorque>
- <pGain>0.5</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- </joint>
- <joint name="wheel_rear_right_r_joint">
- <saturationTorque>5</saturationTorque>
- <pGain>0.5</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- </joint>
- <!-- ========================================= -->
- <!-- torso array -->
- <joint name="torso_joint">
- <saturationTorque>1000</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
- <controlMode>PD_CONTROL</controlMode>
- </joint>
- <!-- ========================================= -->
- <!-- left arm array -->
- <joint name="shoulder_pan_left_joint">
- <saturationTorque>1000</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
- <controlMode>PD_CONTROL</controlMode>
- </joint>
- <joint name="shoulder_pitch_left_joint">
- <saturationTorque>1000</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
- <controlMode>PD_CONTROL</controlMode>
- </joint>
- <joint name="upperarm_roll_left_joint">
- <saturationTorque>1000</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
- <controlMode>PD_CONTROL</controlMode>
- </joint>
- <joint name="elbow_flex_left_joint">
- <saturationTorque>100</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
- <controlMode>PD_CONTROL</controlMode>
- </joint>
- <joint name="forearm_roll_left_joint">
- <saturationTorque>100</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
- <controlMode>PD_CONTROL</controlMode>
- </joint>
- <joint name="wrist_flex_left_joint">
- <saturationTorque>100</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
- <controlMode>PD_CONTROL</controlMode>
- </joint>
- <joint name="gripper_roll_left_joint">
- <saturationTorque>100</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
- <controlMode>PD_CONTROL</controlMode>
- </joint>
- <!-- Special gripper joint -->
- <joint name="gripper_left_joint" type="gripper_special">
- <left_proximal>finger_l_left_joint</left_proximal>
- <left_distal>finger_tip_l_left_joint</left_distal>
- <right_proximal>finger_r_left_joint</right_proximal>
- <right_distal>finger_tip_r_left_joint</right_distal>
- <saturationTorque>100</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
- <controlMode>PD_CONTROL</controlMode>
- </joint>
- <!-- ========================================= -->
- <!-- right arm array -->
- <joint name="shoulder_pan_right_joint">
- <saturationTorque>1000</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
- <controlMode>PD_CONTROL</controlMode>
- </joint>
- <joint name="shoulder_pitch_right_joint">
- <saturationTorque>1000</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
- <controlMode>PD_CONTROL</controlMode>
- </joint>
- <joint name="upperarm_roll_right_joint">
- <saturationTorque>1000</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
- <controlMode>PD_CONTROL</controlMode>
- </joint>
- <joint name="elbow_flex_right_joint">
- <saturationTorque>1000</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
- <controlMode>PD_CONTROL</controlMode>
- </joint>
- <joint name="forearm_roll_right_joint">
- <saturationTorque>100</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
- <controlMode>PD_CONTROL</controlMode>
- </joint>
- <joint name="wrist_flex_right_joint">
- <saturationTorque>100</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
- <controlMode>PD_CONTROL</controlMode>
- </joint>
- <joint name="gripper_roll_right_joint">
- <saturationTorque>100</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
- <controlMode>PD_CONTROL</controlMode>
- </joint>
- <!-- Special gripper joint -->
- <joint name="gripper_right_joint" type="gripper_special">
- <left_proximal>finger_l_right_joint</left_proximal>
- <left_distal>finger_tip_l_right_joint</left_distal>
- <right_proximal>finger_r_right_joint</right_proximal>
- <right_distal>finger_tip_r_right_joint</right_distal>
- <saturationTorque>100</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
- <controlMode>PD_CONTROL</controlMode>
- </joint>
- <!-- head and above array -->
- <joint name="head_pan_joint">
- <saturationTorque>100</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
- <controlMode>PD_CONTROL</controlMode>
- </joint>
- <joint name="head_tilt_joint">
- <saturationTorque>10</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
- <controlMode>PD_CONTROL</controlMode>
- </joint>
- <joint name="tilt_laser_joint">
- <saturationTorque>500</saturationTorque>
- <pGain>2</pGain>
- <dGain>0</dGain>
- <iGain>1</iGain>
- <iClamp>20</iClamp>
- <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
- <controlMode>PD_CONTROL</controlMode>
- </joint>
- <!-- ========================================= -->
- <interface:pr2array name="pr2_iface"/>
- <!-- ========================================= -->
- </controller:pr2_actarray>
-
- <!-- P3D for position groundtruth -->
- <controller:P3D name="p3d_right_wrist_controller" plugin="libP3D.so">
- <updateRate>100.0</updateRate>
- <bodyName>gripper_roll_right</bodyName>
- <interface:position name="p3d_right_wrist_position"/>
- </controller:P3D>
-
- <controller:P3D name="p3d_left_wrist_controller" plugin="libP3D.so">
- <updateRate>100.0</updateRate>
- <bodyName>gripper_roll_left</bodyName>
- <interface:position name="p3d_left_wrist_position"/>
- </controller:P3D>
-
- <controller:P3D name="p3d_base_controller" plugin="libP3D.so">
- <updateRate>100.0</updateRate>
- <bodyName>base</bodyName>
- <interface:position name="p3d_base_position"/>
- </controller:P3D>
-
-
- </verbatim>
-</map>
-
-</robot>
-
Deleted: pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2_rosgazebo.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2_rosgazebo.xml 2008-09-09 21:26:57 UTC (rev 4113)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2_rosgazebo.xml 2008-09-09 21:27:00 UTC (rev 4114)
@@ -1,2247 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="pr2"><!-- name of the robot-->
-
- <!-- Begin template definitions for ease of reuse -->
-
- <const name="robot_inital_position_x" value=" 0.0 " /> <!-- keep 0 for now, because of hardcoded sensor/gripper positions in controllers.cml -->
- <const name="robot_inital_position_y" value=" 0.0 " /> <!-- keep 0 for now, because of hardcoded sensor/gripper positions in controllers.cml -->
- <const name="robot_inital_position_z" value=" 0.0*(wheel_radius-base_caster_offset_z/2)/2 " /> <!-- keep 0 for now, because of hardcoded sensor/gripper positions in controllers.cml -->
- <const name="wheel_clearance_offset" value="0.02" /> <!-- placement robot model origin so wheel are not under ground -->
-
- <const name="base_size_x" value="0.65" /> <!-- for defining collision geometry -->
- <const name="base_size_y" value="0.65" /> <!-- for defining collision geometry -->
- <const name="base_size_z" value="0.26" /> <!-- for defining collision geometry -->
-
- <const name="wheel_length" value="0.03" /> <!-- FIXME -->
- <const name="wheel_radius" value="0.079" /> <!-- mp 20080801 -->
-
- <const name="base_caster_offset_x" value="0.2225" /> <!-- mp 20080801 -->
- <const name="base_caster_offset_y" value="0.2225" /> <!-- mp 20080801 -->
- <const name="base_caster_offset_z" value="0.0282" /> <!-- mp 20080801 -->
-
- <const name="caster_wheel_offset_y" value="0.049" /> <!-- from function spreadsheet -->
-
- <const name="caster_size_x" value="0.192" /> <!-- for collision geometry -->
- <const name="caster_size_y" value="0.164" /> <!-- for collision geometry -->
- <const name="caster_size_z" value="0.013" /> <!-- for collision geometry -->
- <const name="caster_collision_center_box_center_offset_z" value="0.07" />
-
- <const name="torso_size_x" value=".432 " /> <!-- for defining collision geometry -->
- <const name="torso_size_y" value=".620 " /> <!-- for defining collision geometry -->
- <const name="torso_size_z" value=".823 " /> <!-- for defining collision geometry -->
-
- <const name="base_torso_offset_x" value="-0.05 " /> <!-- mp 20080801 -->
- <const name="base_torso_offset_z" value=" 0.739675" /> <!-- mp 20080801 this is the offset for home position: lowest spine setting -->
-
- <const name="torso_center_box_center_offset_x" value="-.10" /> <!-- FIXME -->
- <const name="torso_center_box_center_offset_z" value="-.50" /> <!-- FIXME -->
-
- <const name="torso_max_travel_range" value=" 0.396 " /> <!-- FIXME -->
-
- <const name="shoulder_pan_size_x" value="0.347" /> <!-- for defining collision geometry -->
- <const name="shoulder_pan_size_y" value="0.254" /> <!-- for defining collision geometry -->
- <const name="shoulder_pan_size_z" value="0.646" /> <!-- for defining collision geometry -->
- <const name="shoulder_pan_center_box_center_offset_x" value=" .05" />
- <const name="shoulder_pan_center_box_center_offset_z" value="-.20" />
-
- <const name="shoulder_pan_min_limit" value=" -M_PI/2 " /> <!-- FIXME -->
- <const name="shoulder_pan_max_limit" value=" M_PI/2 " /> <!-- FIXME -->
-
- <const name="torso_shoulder_pan_offset_y" value="0.188" /> <!-- mp 20080801 -->
-
- <const name="shoulder_pitch_min_limit" value=" -0.6109 " />
- <const name="shoulder_pitch_max_limit" value=" 1.3090 " />
-
- <const name="shoulder_pitch_length" value="0.10" /> <!-- for defining collision geometry -->
- <const name="shoulder_pitch_radius" value="0.12" /> <!-- for defining collision geometry -->
-
- <const name="shoulder_pan_shoulder_pitch_offset_x" value="0.1" /> <!-- mp 20080801 -->
-
- <const name="upperarm_roll_size_x" value="0.362" /> <!-- for defining collision geometry -->
- <const name="upperarm_roll_size_y" value="0.144" /> <!-- for defining collision geometry -->
- <const name="upperarm_roll_size_z" value="0.157" /> <!-- for defining collision geometry -->
- <const name="upperarm_roll_center_box_center_offset_x" value=".30" /> <!-- from origin of mesh to center of box-geom -->
-
-
- <const name="elbow_flex_min_limit" value=" -M_PI/2 " />
- <const name="elbow_flex_max_limit" value=" 0.8727 " />
-
- <const name="elbow_flex_length" value="0.08" /> <!-- for defining collision geometry -->
- <const name="elbow_flex_radius" value="0.1" /> <!-- for defining collision geometry -->
-
- <const name="upperarm_roll_elbow_flex_offset_x" value="0.4" /> <!-- mp 20080801 -->
- <const name="upperarm_roll_min_limit" value="-2.3562" />
- <const name="upperarm_roll_max_limit" value=" 2.3562" />
-
- <const name="forearm_roll_size_x" value="0.27" /> <!-- for defining collision geometry -->
- <const name="forearm_roll_size_y" value="0.12" /> <!-- for defining collision geometry -->
- <const name="forearm_roll_size_z" value="0.08" /> <!-- for defining collision geometry -->
- <const name="forearm_roll_center_box_center_offset_x" value=" 0.22 " /> <!-- FIXME -->
-
- <const name="elbow_roll_wrist_flex_offset_x" value="0.32025" /> <!-- mp 20080801 -->
-
- <const name="wrist_flex_radius" value="0.033 " /> <!-- for defining collision geometry -->
- <const name="wrist_flex_length" value="0.103 " /> <!-- for defining collision geometry -->
-
- <const name="wrist_flex_min_limit" value=" -1 " />
- <const name="wrist_flex_max_limit" value=" 1 " />
-
- <const name="gripper_roll_size_x" value="0.11" /> <!-- for defining collision geometry -->
- <const name="gripper_roll_size_y" value="0.10" /> <!-- for defining collision geometry -->
- <const name="gripper_roll_size_z" value="0.05" /> <!-- for defining collision geometry -->
- <const name="gripper_roll_center_box_center_offset_x" value="0.05" /> <!-- FIXME -->
-
-
-
- <const name="head_pan_min_limit" value="-2.9322" /> <!-- FIXME -->
- <const name="head_pan_max_limit" value="2.9322" /> <!-- FIXME -->
-
- <const name="torso_head_pan_offset_x" value="0.0" /> <!-- mp 20080801 -->
- <const name="torso_head_pan_offset_z" value="0.3815" /> <!-- mp 20080801 -->
-
- <const name="head_pan_size_x" value="0.188" /> <!-- for defining collision geometry -->
- <const name="head_pan_size_y" value="0.219" /> <!-- for defining collision geometry -->
- <const name="head_pan_size_z" value="0.137" /> <!-- for defining collision geometry -->
-
-
- <const name="head_tilt_min_limit" value=" -M_PI/6 " /> <!-- FIXME -->
- <const name="head_tilt_max_limit" value=" M_PI/3 " /> <!-- FIXME -->
-
- <const name="head_pan_head_tilt_offset_x" value="0.058" /> <!-- mp 20080801 -->
-
- <const name="head_tilt_size_x" value="0.164" /> <!-- for defining collision geometry -->
- <const name="head_tilt_size_y" value="0.253" /> <!-- for defining collision geometry -->
- <const name="head_tilt_size_z" value="0.181" /> <!-- for defining collision geometry -->
-
- <!-- stereo camera -->
- <const name="head_tilt_stereo_offset_x" value="0.0232" /> <!-- mp 20080801 -->
- <const name="head_tilt_stereo_offset_z" value="0.0645" /> <!-- mp 20080801 -->
- <const name="stereo_size_x" value=" 0.05 " /> <!-- for definint visual and collision geometry -->
- <const name="stereo_size_y" value=" 0.10 " /> <!-- for definint ...
[truncated message content] |
