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[Personalrobots-commit] SF.net SVN: personalrobots:[4471] pkg/trunk
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From: <hsu...@us...> - 2008-09-18 17:51:00
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Revision: 4471
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=4471&view=rev
Author: hsujohnhsu
Date: 2008-09-19 00:51:10 +0000 (Fri, 19 Sep 2008)
Log Message:
-----------
updates to demos to use new pr2_gui.
Modified Paths:
--------------
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-wg-fake_localization.xml
pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg-headless-fake_localization.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/backup/pr2.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml
Modified: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless-fake_localization.xml
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless-fake_localization.xml 2008-09-19 00:31:51 UTC (rev 4470)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless-fake_localization.xml 2008-09-19 00:51:10 UTC (rev 4471)
@@ -8,11 +8,7 @@
<node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
<!-- for visualization -->
- <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="wx_camera_panel" type="standalone_camera.py" args="-i PTZR_image -s PTZR_state -c PTZR_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-->
+ <node pkg="pr2_gui" type="pr2_gui" respawn="true" output="screen" />
<!-- for manual control -->
<!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
Modified: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless.xml
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless.xml 2008-09-19 00:31:51 UTC (rev 4470)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless.xml 2008-09-19 00:51:10 UTC (rev 4471)
@@ -9,7 +9,6 @@
<!-- for visualization -->
<node pkg="pr2_gui" type="pr2_gui" 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" /-->
Modified: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg-fake_localization.xml
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg-fake_localization.xml 2008-09-19 00:31:51 UTC (rev 4470)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg-fake_localization.xml 2008-09-19 00:51:10 UTC (rev 4471)
@@ -7,11 +7,7 @@
<node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
<!-- for visualization -->
- <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="wx_camera_panel" type="standalone_camera.py" args="-i PTZR_image -s PTZR_state -c PTZR_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-->
+ <node pkg="pr2_gui" type="pr2_gui" respawn="true" output="screen" />
<!-- for manual control -->
<!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
Modified: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg-headless-fake_localization.xml
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg-headless-fake_localization.xml 2008-09-19 00:31:51 UTC (rev 4470)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg-headless-fake_localization.xml 2008-09-19 00:51:10 UTC (rev 4471)
@@ -7,11 +7,7 @@
<node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
<!-- for visualization -->
- <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="wx_camera_panel" type="standalone_camera.py" args="-i PTZR_image -s PTZR_state -c PTZR_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-->
+ <node pkg="pr2_gui" type="pr2_gui" respawn="true" output="screen" />
<!-- for manual control -->
<!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators.xml 2008-09-19 00:31:51 UTC (rev 4470)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators.xml 2008-09-19 00:51:10 UTC (rev 4471)
@@ -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 $(find wg_robot_description)/pr2/controllers.xml" respawn="false" output="screen" />
- <node pkg="generic_controllers" type="control.py" args="set tilt_laser_controller 46" respawn="false" output="screen" />
+ <node pkg="robot_mechanism_controllers" type="control.py" args="set tilt_laser_controller 46" respawn="false" output="screen" />
</group>
</launch>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators_headless.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators_headless.xml 2008-09-19 00:31:51 UTC (rev 4470)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators_headless.xml 2008-09-19 00:51:10 UTC (rev 4471)
@@ -8,7 +8,7 @@
<env name="MC_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
</node>
<node pkg="mechanism_control" type="mech.py" args="sp $(find wg_robot_description)/pr2/controllers.xml" respawn="false" output="screen" />
- <node pkg="generic_controllers" type="control.py" args="set tilt_laser_controller 46" respawn="false" output="screen" />
+ <node pkg="robot_mechanism_controllers" type="control.py" args="set tilt_laser_controller 46" respawn="false" output="screen" />
</group>
</launch>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators_wg.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators_wg.xml 2008-09-19 00:31:51 UTC (rev 4470)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators_wg.xml 2008-09-19 00:51:10 UTC (rev 4471)
@@ -9,7 +9,7 @@
<env name="MC_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
</node>
<node pkg="mechanism_control" type="mech.py" args="sp $(find wg_robot_description)/pr2/controllers.xml" respawn="false" output="screen" />
- <node pkg="generic_controllers" type="control.py" args="set tilt_laser_controller 46" respawn="false" output="screen" />
+ <node pkg="robot_mechanism_controllers" type="control.py" args="set tilt_laser_controller 46" respawn="false" output="screen" />
</group>
</launch>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators_wg_headless.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators_wg_headless.xml 2008-09-19 00:31:51 UTC (rev 4470)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators_wg_headless.xml 2008-09-19 00:51:10 UTC (rev 4471)
@@ -9,7 +9,7 @@
<env name="MC_RESOURCE_PATH" value="$(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="control.py" args="set tilt_laser_controller 46" respawn="false" output="screen" />
+ <node pkg="robot_mechanism_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/backup/pr2.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2/backup/pr2.xml 2008-09-19 00:31:51 UTC (rev 4470)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/backup/pr2.xml 2008-09-19 00:51:10 UTC (rev 4471)
@@ -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 -->
@@ -2384,8 +2384,8 @@
<map name="sensor" flag="gazebo">
<verbatim key="sensor_ray">
<sensor:ray name="stereo_laser">
- <rayCount>100</rayCount>
- <rangeCount>100</rangeCount>
+ <rayCount>30</rayCount>
+ <rangeCount>30</rangeCount>
<laserCount>1</laserCount>
<origin>0.0 0.0 0.05</origin>
@@ -2398,8 +2398,8 @@
<maxRange>100.0</maxRange>
<updateRate>10.0</updateRate>
- <verticalRayCount>100</verticalRayCount>
- <verticalRangeCount>100</verticalRangeCount>
+ <verticalRayCount>30</verticalRayCount>
+ <verticalRangeCount>30</verticalRangeCount>
<verticalMinAngle>-20</verticalMinAngle>
<verticalMaxAngle> 0</verticalMaxAngle>
Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml 2008-09-19 00:31:51 UTC (rev 4470)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml 2008-09-19 00:51:10 UTC (rev 4471)
@@ -2384,8 +2384,8 @@
<map name="sensor" flag="gazebo">
<verbatim key="sensor_ray">
<sensor:ray name="stereo_laser">
- <rayCount>100</rayCount>
- <rangeCount>100</rangeCount>
+ <rayCount>30</rayCount>
+ <rangeCount>30</rangeCount>
<laserCount>1</laserCount>
<origin>0.0 0.0 0.05</origin>
@@ -2398,8 +2398,8 @@
<maxRange>100.0</maxRange>
<updateRate>10.0</updateRate>
- <verticalRayCount>100</verticalRayCount>
- <verticalRangeCount>100</verticalRangeCount>
+ <verticalRayCount>30</verticalRayCount>
+ <verticalRangeCount>30</verticalRangeCount>
<verticalMinAngle>-20</verticalMinAngle>
<verticalMaxAngle> 0</verticalMaxAngle>
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