[Personalrobots-commit] SF.net SVN: personalrobots:[4460] pkg/trunk

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

Revision: 4460
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=4460&view=rev
Author:   hsujohnhsu
Date:     2008-09-18 23:58:50 +0000 (Thu, 18 Sep 2008)

Log Message:
-----------
updates to use gazebo_actuators in place of test_actuators.

Modified Paths:
--------------
    pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-fake_localization.xml
    pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless-fake_localization.xml
    pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless.xml
    pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo.xml
    pkg/trunk/demos/2dnav-gazebo/hztest.xml
    pkg/trunk/demos/2dnav-gazebo/odom_hz_test.xml
    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
    pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml

Modified: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-fake_localization.xml
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-fake_localization.xml	2008-09-18 23:54:36 UTC (rev 4459)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-fake_localization.xml	2008-09-18 23:58:50 UTC (rev 4460)
@@ -1,7 +1,7 @@
 <launch>
   <group name="wg">
-    <!--include file="$(find gazebo_robot_description)/pr2_gazebo_actuators.xml"/-->
-    <include file="$(find gazebo_robot_description)/pr2_test.xml"/>
+    <include file="$(find gazebo_robot_description)/pr2_gazebo_actuators.xml"/>
+    <!--include file="$(find gazebo_robot_description)/pr2_test.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" />

Modified: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless-fake_localization.xml
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless-fake_localization.xml	2008-09-18 23:54:36 UTC (rev 4459)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless-fake_localization.xml	2008-09-18 23:58:50 UTC (rev 4460)
@@ -1,7 +1,7 @@
 <launch>
   <group name="wg">
-    <!--include file="$(find gazebo_robot_description)/pr2_gazebo_actuators_headless.xml"/-->
-    <include file="$(find gazebo_robot_description)/pr2_test_headless.xml"/>
+    <include file="$(find gazebo_robot_description)/pr2_gazebo_actuators_headless.xml"/>
+    <!--include file="$(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" />

Modified: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless.xml
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless.xml	2008-09-18 23:54:36 UTC (rev 4459)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless.xml	2008-09-18 23:58:50 UTC (rev 4460)
@@ -1,7 +1,7 @@
 <launch>
   <group name="wg">
-    <!--include file="$(find gazebo_robot_description)/pr2_gazebo_actuators_headless.xml"/-->
-    <include file="$(find gazebo_robot_description)/pr2_test_headless.xml"/>
+    <include file="$(find gazebo_robot_description)/pr2_gazebo_actuators_headless.xml"/>
+    <!--include file="$(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="amcl_player" type="amcl_player" args="scan:=base_scan" respawn="false" output="screen" />
     <node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />

Modified: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo.xml
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo.xml	2008-09-18 23:54:36 UTC (rev 4459)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo.xml	2008-09-18 23:58:50 UTC (rev 4460)
@@ -1,7 +1,7 @@
 <launch>
   <group name="wg">
-    <!--include file="$(find gazebo_robot_description)/pr2_gazebo_actuators.xml"/-->
-    <include file="$(find gazebo_robot_description)/pr2_test.xml"/>
+    <include file="$(find gazebo_robot_description)/pr2_gazebo_actuators.xml"/>
+    <!--include file="$(find gazebo_robot_description)/pr2_test.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="amcl_player" type="amcl_player" args="scan:=base_scan" respawn="false" output="screen" />
     <node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />

Modified: pkg/trunk/demos/2dnav-gazebo/hztest.xml
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/hztest.xml	2008-09-18 23:54:36 UTC (rev 4459)
+++ pkg/trunk/demos/2dnav-gazebo/hztest.xml	2008-09-18 23:58:50 UTC (rev 4460)
@@ -1,6 +1,7 @@
 <launch>
   <!-- Bring up the node we want to test. -->
   <include file="$(find gazebo_robot_description)/pr2_gazebo_actuators.xml"/>
+  <!--include file="$(find gazebo_robot_description)/pr2_test_headless.xml"/-->
 
   <!-- Run hztest -->
   <!-- Test for publication of 'base_scan' topic -->
@@ -9,12 +10,12 @@
     <param name="topic" value="base_scan" />
     <!-- The expected publication rate [Hz].  Set to 0.0 to only check that
     at least one message is received. -->
-    <param name="hz" value="10.0" />
+    <param name="hz" value="5.0" />
     <!-- Acceptable error in the publication rate [Hz].  Ignored if hz is set
     to 0.0. -->
     <param name="hzerror" value="3.0" />
     <!-- Time to listen for [seconds] -->
-    <param name="test_duration" value="1.0" />    
+    <param name="test_duration" value="5.0" />    
     <!-- Whether each inter-message time interval should be checked against
     the expected publication rate and error bound [boolean].  If true, then
     the test will fail if the time elapsed between *any* two consecutive
@@ -28,8 +29,8 @@
     <!-- Note how we use a different parameter namespace and node name
     for this test (odom_test vs. scan_test). -->
     <param name="topic" value="odom" />
-    <param name="hz" value="3.0" />
-    <param name="hzerror" value="1.0" />
+    <param name="hz" value="50.0" />
+    <param name="hzerror" value="3.0" />
     <param name="test_duration" value="5.0" />
     <param name="check_intervals" value="false" />
   </test>

Modified: pkg/trunk/demos/2dnav-gazebo/odom_hz_test.xml
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/odom_hz_test.xml	2008-09-18 23:54:36 UTC (rev 4459)
+++ pkg/trunk/demos/2dnav-gazebo/odom_hz_test.xml	2008-09-18 23:58:50 UTC (rev 4460)
@@ -1,6 +1,6 @@
 <launch>
   <!-- Bring up the node we want to test. -->
-  <include file="$(find gazebo_robot_description)/pr2_test.xml"/>
+  <include file="$(find gazebo_robot_description)/pr2_gazebo_actuators_headless.xml"/>
 
   <!-- Test for publication of 'odom' topic. -->
   <test test-name="hztest_test_odom" pkg="rostest" type="hztest" name="odom_test">

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators.xml	2008-09-18 23:54:36 UTC (rev 4459)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators.xml	2008-09-18 23:58:50 UTC (rev 4460)
@@ -8,7 +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" />
+    <node pkg="generic_controllers" type="control.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	2008-09-18 23:54:36 UTC (rev 4459)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators_headless.xml	2008-09-18 23:58:50 UTC (rev 4460)
@@ -8,7 +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" />
+    <node pkg="generic_controllers" type="control.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	2008-09-18 23:54:36 UTC (rev 4459)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators_wg.xml	2008-09-18 23:58:50 UTC (rev 4460)
@@ -9,7 +9,7 @@
       <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" />
+    <node pkg="generic_controllers" type="control.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	2008-09-18 23:54:36 UTC (rev 4459)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators_wg_headless.xml	2008-09-18 23:58:50 UTC (rev 4460)
@@ -9,7 +9,7 @@
       <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" />
+    <node pkg="generic_controllers" type="control.py" args="set tilt_laser_controller 46" respawn="false" output="screen" />
   </group>
 </launch>
 

Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml	2008-09-18 23:54:36 UTC (rev 4459)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml	2008-09-18 23:58:50 UTC (rev 4460)
@@ -865,7 +865,7 @@
   
   <link name="base"><!-- link specifying the base of the robot -->
     
-    <parent name=" world" />
+    <parent name="world" />
     
     <!-- rotation of a local coordinate frame attached to the link with respect to a global coordinate frame -->
     <origin xyz=" robot_inital_position_x robot_inital_position_y robot_inital_position_z " rpy=" 0 0 0" /> <!-- position of a local coordinate frame attached to the link with respect to the parent link's coordinate frame -->


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