[Personalrobots-commit] SF.net SVN: personalrobots:[4322] pkg/trunk

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

Revision: 4322
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=4322&view=rev
Author:   hsujohnhsu
Date:     2008-09-16 02:06:56 +0000 (Tue, 16 Sep 2008)

Log Message:
-----------
update gazebo ground truth frame names by appending _gazebo_ground_truth, and updating fake localization correspondingly.

Modified Paths:
--------------
    pkg/trunk/nav/fake_localization/fake_localization.cpp
    pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_gazebo.xml
    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/nav/fake_localization/fake_localization.cpp
===================================================================
--- pkg/trunk/nav/fake_localization/fake_localization.cpp	2008-09-16 01:51:38 UTC (rev 4321)
+++ pkg/trunk/nav/fake_localization/fake_localization.cpp	2008-09-16 02:06:56 UTC (rev 4322)
@@ -54,7 +54,7 @@
 @section topic ROS topics
 
 Subscribes to (name/type):
-- @b "base_pose"/Pose3DEulerFloat32 : robot's odometric pose.  Only the position information is used (velocity is ignored).
+- @b "base_pose_gazebo_ground_truth"/Pose3DEulerFloat32 : robot's odometric pose.  Only the position information is used (velocity is ignored).
 - @b "initialpose"/Pose2DFloat32 : robot's odometric pose.  Only the position information is used (velocity is ignored).
 
 Publishes to (name / type):
@@ -99,7 +99,7 @@
 
 	param("max_publish_frequency", m_maxPublishFrequency, 0.5);
 	
-	subscribe("base_pose", m_basePosMsg, &FakeOdomNode::basePosReceived);
+	subscribe("base_pose_gazebo_ground_truth", m_basePosMsg, &FakeOdomNode::basePosReceived);
 	subscribe("initialpose", m_iniPos, &FakeOdomNode::initialPoseReceived);
     }
     

Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_gazebo.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_gazebo.xml	2008-09-16 01:51:38 UTC (rev 4321)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_gazebo.xml	2008-09-16 02:06:56 UTC (rev 4322)
@@ -64,7 +64,7 @@
     <alwaysOn>true</alwaysOn>
     <updateRate>100.0</updateRate>
     <bodyName>base</bodyName>
-    <topicName>base_pose</topicName>
+    <topicName>base_pose_gazebo_ground_truth</topicName>
     <frameName>base_frame</frameName>
     <xyzOffsets>25.65 25.65 0</xyzOffsets> <!-- initialize odometry for fake localization-->
     <rpyOffsets>0 0 0</rpyOffsets>

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	2008-09-16 01:51:38 UTC (rev 4321)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_gazebo_test.xml	2008-09-16 02:06:56 UTC (rev 4322)
@@ -71,9 +71,9 @@
 
   <controller:P3D name="p3d_base_controller" plugin="libP3D.so">
     <alwaysOn>true</alwaysOn>
-    <updateRate>100.0</updateRate>
+    <updateRate>1000.0</updateRate>
     <bodyName>base</bodyName>
-    <topicName>base_pose</topicName>
+    <topicName>base_pose_gazebo_ground_truth</topicName>
     <frameName>base_frame</frameName>
     <xyzOffsets>25.65 25.65 0</xyzOffsets> <!-- initialize odometry for fake localization-->
     <rpyOffsets>0 0 0</rpyOffsets>

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	2008-09-16 01:51:38 UTC (rev 4321)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_gazebo_test_headless.xml	2008-09-16 02:06:56 UTC (rev 4322)
@@ -71,9 +71,9 @@
 
   <controller:P3D name="p3d_base_controller" plugin="libP3D.so">
     <alwaysOn>true</alwaysOn>
-    <updateRate>100.0</updateRate>
+    <updateRate>1000.0</updateRate>
     <bodyName>base</bodyName>
-    <topicName>base_pose</topicName>
+    <topicName>base_pose_gazebo_ground_truth</topicName>
     <frameName>base_frame</frameName>
     <xyzOffsets>25.65 25.65 0</xyzOffsets> <!-- initialize odometry for fake localization-->
     <rpyOffsets>0 0 0</rpyOffsets>


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