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From: <stu...@us...> - 2008-09-29 23:23:20
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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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