[Personalrobots-commit] SF.net SVN: personalrobots:[4793] pkg/trunk

[<stu...@us...>]

Revision: 4793
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=4793&view=rev
Author:   stuglaser
Date:     2008-09-29 23:23:08 +0000 (Mon, 29 Sep 2008)

Log Message:
-----------
The calibration controller comes down cleanly.

Modified Paths:
--------------
    pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_calibration_controller.h
    pkg/trunk/controllers/robot_mechanism_controllers/src/joint_calibration_controller.cpp
    pkg/trunk/mechanism/mechanism_model/src/robot.cpp

Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_calibration_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_calibration_controller.h	2008-09-29 23:11:37 UTC (rev 4792)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_calibration_controller.h	2008-09-29 23:23:08 UTC (rev 4793)
@@ -150,7 +150,9 @@
 
 private:
   JointCalibrationController *c_;
+  AdvertisedServiceGuard guard_calibrate_;
 };
+
 }
 
 

Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/joint_calibration_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/joint_calibration_controller.cpp	2008-09-29 23:11:37 UTC (rev 4792)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/joint_calibration_controller.cpp	2008-09-29 23:23:08 UTC (rev 4793)
@@ -202,5 +202,7 @@
   if (!c_->initXml(robot, config))
     return false;
   node->advertise_service(topic + "/calibrate", &JointCalibrationControllerNode::calibrateCommand, this);
+  guard_calibrate_.set(topic + "/calibrate");
+
   return true;
 }

Modified: pkg/trunk/mechanism/mechanism_model/src/robot.cpp
===================================================================
--- pkg/trunk/mechanism/mechanism_model/src/robot.cpp	2008-09-29 23:11:37 UTC (rev 4792)
+++ pkg/trunk/mechanism/mechanism_model/src/robot.cpp	2008-09-29 23:23:08 UTC (rev 4793)
@@ -256,7 +256,7 @@
         break;
       }
 
-      rotation.setFromEuler(0,0,0, l.origin_rpy_[0], l.origin_rpy_[1], l.origin_rpy_[2]);
+      rotation.setFromEuler(0,0,0, l.origin_rpy_[2], l.origin_rpy_[1], l.origin_rpy_[0]);
 
       link_states_[i].rel_frame_.setIdentity();
       link_states_[i].rel_frame_.multiplyPose(offset);


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