[Personalrobots-commit] SF.net SVN: personalrobots:[4366] pkg/trunk

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

Revision: 4366
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=4366&view=rev
Author:   hsujohnhsu
Date:     2008-09-17 00:17:37 +0000 (Wed, 17 Sep 2008)

Log Message:
-----------
modify laser scanner controller to take a default value.
modify startup script for gazebo_actuators in simulation to initialize laser scanner controller.

Modified Paths:
--------------
    pkg/trunk/controllers/pr2_controllers/src/laser_scanner_controller.cpp
    pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators.xml
    pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators_headless.xml
    pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators_wg.xml
    pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators_wg_headless.xml

Modified: pkg/trunk/controllers/pr2_controllers/src/laser_scanner_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_controllers/src/laser_scanner_controller.cpp	2008-09-17 00:13:55 UTC (rev 4365)
+++ pkg/trunk/controllers/pr2_controllers/src/laser_scanner_controller.cpp	2008-09-17 00:17:37 UTC (rev 4366)
@@ -427,6 +427,7 @@
   else if(req.command==43)c_->setSawtoothProfile(2,0.5,100,0.5);
   else if(req.command==44)c_->setSawtoothProfile(0.5,0.5,100,0);
   else if(req.command==45)c_->setSawtoothProfile(1,0.5,0);
+  else if(req.command==46)c_->setSawtoothProfile(20,0.872,100,0.3475); // JMH- latest running numbers from David with proper range considered
   else if(req.command==-41)c_->setSinewaveProfile(2,0.5,100,0.5);
   else if(req.command==-42)c_->setSinewaveProfile(2,0.5,100,0);
   else if(req.command==-43)c_->setSinewaveProfile(1,0.5,100,0);
@@ -493,6 +494,7 @@
       c_->setSinewaveProfile(period, amplitude,offset);
       break;
     case LaserScannerController::SAWTOOTH:
+      std::cout << " setting sawtooth with these numbers " << period << " " << amplitude << " " << num_elements << " " << offset << std::endl;
       c_->setSawtoothProfile(period, amplitude, num_elements, offset);
       break;
     case LaserScannerController::DYNAMIC_SAWTOOTH:

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators.xml	2008-09-17 00:13:55 UTC (rev 4365)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators.xml	2008-09-17 00:17:37 UTC (rev 4366)
@@ -8,6 +8,7 @@
       <env name="MC_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
     </node>
     <node pkg="mechanism_control" type="mech.py" args="sp $(find wg_robot_description)/pr2/controllers.xml" respawn="false" output="screen" />
+    <node pkg="generic_controllers" type="controllers.py" args="set tilt_laser_controller 46" respawn="false" output="screen" />
   </group>
 </launch>
 

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators_headless.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators_headless.xml	2008-09-17 00:13:55 UTC (rev 4365)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators_headless.xml	2008-09-17 00:17:37 UTC (rev 4366)
@@ -8,6 +8,7 @@
       <env name="MC_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
     </node>
     <node pkg="mechanism_control" type="mech.py" args="sp $(find wg_robot_description)/pr2/controllers.xml" respawn="false" output="screen" />
+    <node pkg="generic_controllers" type="controllers.py" args="set tilt_laser_controller 46" respawn="false" output="screen" />
   </group>
 </launch>
 

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators_wg.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators_wg.xml	2008-09-17 00:13:55 UTC (rev 4365)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators_wg.xml	2008-09-17 00:17:37 UTC (rev 4366)
@@ -8,6 +8,8 @@
       <env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
       <env name="MC_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
     </node>
+    <node pkg="mechanism_control" type="mech.py" args="sp $(find wg_robot_description)/pr2/controllers.xml" respawn="false" output="screen" />
+    <node pkg="generic_controllers" type="controllers.py" args="set tilt_laser_controller 46" respawn="false" output="screen" />
   </group>
 </launch>
 

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators_wg_headless.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators_wg_headless.xml	2008-09-17 00:13:55 UTC (rev 4365)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators_wg_headless.xml	2008-09-17 00:17:37 UTC (rev 4366)
@@ -8,6 +8,8 @@
       <env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
       <env name="MC_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
     </node>
+    <node pkg="mechanism_control" type="mech.py" args="sp $(find wg_robot_description)/pr2/controllers.xml" respawn="false" output="screen" />
+    <node pkg="generic_controllers" type="controllers.py" args="set tilt_laser_controller 46" respawn="false" output="screen" />
   </group>
 </launch>
 


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