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[Personalrobots-commit] SF.net SVN: personalrobots:[4152] pkg/trunk
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From: <hsu...@us...> - 2008-09-10 21:32:40
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Revision: 4152
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=4152&view=rev
Author: hsujohnhsu
Date: 2008-09-10 21:32:47 +0000 (Wed, 10 Sep 2008)
Log Message:
-----------
updated P3D constant offsets for base_pose for all pr2 demos.
updated demo with more complex maps of willow garage.
Modified Paths:
--------------
pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless.xml
pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test_wg.world
pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_gazebo.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_gazebo_test_headless.xml
Added Paths:
-----------
pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless-fake_localization.xml
pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg-fake_localization.xml
pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg-headless-fake_localization.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_test_wg.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_test_wg_headless.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test_wg_headless.world
Added: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless-fake_localization.xml
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless-fake_localization.xml (rev 0)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless-fake_localization.xml 2008-09-10 21:32:47 UTC (rev 4152)
@@ -0,0 +1,21 @@
+<launch>
+ <group name="wg">
+ <include file="$(find gazebo_robot_description)/pr2_test_headless.xml"/>
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/map3.png 0.1" respawn="false" output="screen" />
+ <node pkg="fake_localization" type="fake_localization" respawn="false" output="screen" />
+ <node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
+ <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
+
+ <!-- for visualization -->
+ <node pkg="wx_camera_panel" type="camera_test" args="" respawn="true" output="screen" />
+ <!--node pkg="wx_camera_panel" type="standalone_camera.py" args="-i PTZL_image -s PTZL_state -c PTZL_cmd" 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 -->
+ <!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
+ <node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" />
+ </group>
+</launch>
+
Modified: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless.xml
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless.xml 2008-09-10 21:12:13 UTC (rev 4151)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless.xml 2008-09-10 21:32:47 UTC (rev 4152)
@@ -8,6 +8,7 @@
<!-- for visualization -->
<node pkg="wx_camera_panel" type="camera_test" args="" respawn="true" output="screen" />
+ <!--node pkg="wx_camera_panel" type="standalone_camera.py" args="-i PTZL_image -s PTZL_state -c PTZL_cmd" respawn="true" output="screen" /--> <!-- not working yet -->
<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-->
Added: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg-fake_localization.xml
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg-fake_localization.xml (rev 0)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg-fake_localization.xml 2008-09-10 21:32:47 UTC (rev 4152)
@@ -0,0 +1,21 @@
+<launch>
+ <group name="wg">
+ <include file="$(find gazebo_robot_description)/pr2_test_wg.xml"/>
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/willowMap.png 0.1" respawn="false" output="screen" />
+ <node pkg="fake_localization" type="fake_localization" respawn="false" output="screen" />
+ <node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
+ <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
+
+ <!-- for visualization -->
+ <node pkg="wx_camera_panel" type="camera_test" args="" respawn="true" output="screen" />
+ <!--node pkg="wx_camera_panel" type="standalone_camera.py" args="-i PTZL_image -s PTZL_state -c PTZL_cmd" 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 -->
+ <!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
+ <node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" />
+ </group>
+</launch>
+
Added: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg-headless-fake_localization.xml
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg-headless-fake_localization.xml (rev 0)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg-headless-fake_localization.xml 2008-09-10 21:32:47 UTC (rev 4152)
@@ -0,0 +1,21 @@
+<launch>
+ <group name="wg">
+ <include file="$(find gazebo_robot_description)/pr2_test_wg_headless.xml"/>
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/willowMap.png 0.1" respawn="false" output="screen" />
+ <node pkg="fake_localization" type="fake_localization" respawn="false" output="screen" />
+ <node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
+ <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
+
+ <!-- for visualization -->
+ <node pkg="wx_camera_panel" type="camera_test" args="" respawn="true" output="screen" />
+ <!--node pkg="wx_camera_panel" type="standalone_camera.py" args="-i PTZL_image -s PTZL_state -c PTZL_cmd" respawn="true" output="screen" /--> <!-- not working yet -->
+ <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 -->
+ <!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
+ <node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" />
+ </group>
+</launch>
+
Modified: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg.xml
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg.xml 2008-09-10 21:12:13 UTC (rev 4151)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg.xml 2008-09-10 21:32:47 UTC (rev 4152)
@@ -1,9 +1,7 @@
<launch>
<group name="wg">
- <include file="$(find wg_robot_description)/send.xml"/>
- <node pkg="gazebo" type="run-gazebo.sh" args="$(find gazebo_robot_description)/world/robot_rosgazebo_wg.world" respawn="true" />
+ <include file="$(find gazebo_robot_description)/pr2_test_wg.xml"/>
<node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/willowMap.png 0.1" respawn="false" />
- <node pkg="pr2_gazebo" type="run-pr2_gazebo.sh" args="" respawn="true" />
<node pkg="amcl_player" type="amcl_player" args="scan:=base_scan" respawn="false" />
<node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" />
<node pkg="nav_view" type="nav_view" respawn="true" />
Added: pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_test_wg.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_test_wg.xml (rev 0)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_test_wg.xml 2008-09-10 21:32:47 UTC (rev 4152)
@@ -0,0 +1,8 @@
+<launch>
+ <group name="wg">
+ <include file="$(find wg_robot_description)/send_test.xml"/>
+ <!-- -g flag runs gazebo in gui-less mode -->
+ <node pkg="gazebo" type="run-gazebo.sh" args="$(find gazebo_robot_description)/world/robot_test_wg.world" respawn="false" output="screen" />
+ </group>
+</launch>
+
Added: pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_test_wg_headless.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_test_wg_headless.xml (rev 0)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_test_wg_headless.xml 2008-09-10 21:32:47 UTC (rev 4152)
@@ -0,0 +1,8 @@
+<launch>
+ <group name="wg">
+ <include file="$(find wg_robot_description)/send_test_headless.xml"/>
+ <!-- -g flag runs gazebo in gui-less mode -->
+ <node pkg="gazebo" type="run-gazebo.sh" args="-g $(find gazebo_robot_description)/world/robot_test_wg_headless.world" respawn="false" output="screen" />
+ </group>
+</launch>
+
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test_wg.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test_wg.world 2008-09-10 21:12:13 UTC (rev 4151)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test_wg.world 2008-09-10 21:32:47 UTC (rev 4152)
@@ -67,18 +67,17 @@
</body:plane>
</model:physical>
-<!--
<model:physical name="walls">
<include embedded="false">
- <xi:include href="willow-walls.model" />
+ <xi:include href="tests/willow-walls.model" />
</include>
</model:physical>
--->
- <model:physical name="map">
+<!--
+ <model:physical name="willow_map">
<xyz>-25.65 25.65 1.0</xyz>
<rpy>180 0 0</rpy>
- <body:map name="map_body">
- <geom:map name="map_geom">
+ <body:map name="willow_map_body">
+ <geom:map name="willow_map_geom">
<image>willowMap.png</image>
<threshold>200</threshold>
<granularity>2</granularity>
@@ -89,6 +88,7 @@
</geom:map>
</body:map>
</model:physical>
+-->
<model:physical name="robot_model1">
Added: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test_wg_headless.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test_wg_headless.world (rev 0)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test_wg_headless.world 2008-09-10 21:32:47 UTC (rev 4152)
@@ -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>0.001</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="tests/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>
Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_gazebo.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_gazebo.xml 2008-09-10 21:12:13 UTC (rev 4151)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_gazebo.xml 2008-09-10 21:32:47 UTC (rev 4152)
@@ -66,6 +66,8 @@
<bodyName>base</bodyName>
<topicName>base_pose</topicName>
<frameName>base_frame</frameName>
+ <xyzOffsets>25.65 25.65 0</xyzOffsets> <!-- initialize odometry for fake localization-->
+ <rpyOffsets>0 0 0</rpyOffsets>
<interface:position name="p3d_base_position"/>
</controller:P3D>
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 2008-09-10 21:12:13 UTC (rev 4151)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_gazebo_test_headless.xml 2008-09-10 21:32:47 UTC (rev 4152)
@@ -75,6 +75,8 @@
<bodyName>base</bodyName>
<topicName>base_pose</topicName>
<frameName>base_frame</frameName>
+ <xyzOffsets>25.65 25.65 0</xyzOffsets> <!-- initialize odometry for fake localization-->
+ <rpyOffsets>0 0 0</rpyOffsets>
<interface:position name="p3d_base_position"/>
</controller:P3D>
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