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[Personalrobots-commit] SF.net SVN: personalrobots:[4823] pkg/trunk
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From: <hsu...@us...> - 2008-09-30 19:18:34
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Revision: 4823
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=4823&view=rev
Author: hsujohnhsu
Date: 2008-09-30 19:18:07 +0000 (Tue, 30 Sep 2008)
Log Message:
-----------
* added more comments to pr2_gazebo_actuators.xml
* docum. for gazebo_plugin
* update MoveCartesian.srv according to change in pr2_msgs
Modified Paths:
--------------
pkg/trunk/drivers/simulator/gazebo_plugin/doc.dox
pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/Ros_PTZ.hh
pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/Ros_Stereo_Camera.hh
pkg/trunk/drivers/simulator/gazebo_plugin/srv/MoveCartesian.srv
pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators.xml
Added Paths:
-----------
pkg/trunk/drivers/simulator/gazebo_plugin/gazebo_mcn.jpg
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/doc.dox
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/doc.dox 2008-09-30 18:54:44 UTC (rev 4822)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/doc.dox 2008-09-30 19:18:07 UTC (rev 4823)
@@ -1,5 +1,6 @@
/**
@mainpage
+
@htmlinclude manifest.html
Here are the gazebo plugins which are currently implemented:
@@ -11,6 +12,9 @@
\li \ref gazebo::Ros_PTZ "ROS PTZ Camera Plugin"
\li \ref gazebo::P3D "ROS Ground Truth Broadcaster"
+
+ @image html gazebo_mcn.jpg "Gazebo Mechanism Control Model"
+
@section usage Quick Start Guide
\li If you have successfully \e rosmake \e 2dnav-gazebo, you have EVERYTHING needed to run all simulator+PR2 demos. Otherwise, to compile a minimum set of packages for running Gazebo:
@verbatim
@@ -22,27 +26,35 @@
\li Here is a simple launch script that starts Gazebo:
@verbatim
<launch>
+ <!-- automatically start a new master if none active -->
<master auto="start">
+ <!-- if needed, group tag allows pushing components into namespace via attribute ns="namespace" -->
<group name="wg">
+ <!-- assign environment variables for gazebo and startup gazebo with argument containing the world file. -->
<node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/world/robot.world" respawn="false" output="screen">
<env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$LD_LIBRARY_PATH" />
<env name="GAZEBO_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
<env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
<env name="MC_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
</node>
- </group>
+ </group>
</launch>
@endverbatim
see <a href="http://pr.willowgarage.com/wiki/roslaunch">roslaunch</a> for more details.
- To start a mechanism::MechanismControlNode and spawn some controllers, you have to first send \b pr2.xml to the parameter server, then invoke \b mech.py with the controllers xml configuration file as the argument to spawn controllers:
@verbatim
+ <!-- send pr2.xml to parameter server as a string, allow retrieval by various components whe needs it
+ (Mechanism Control, BaseControllerNode, etc...) -->
<param name="robotdesc/pr2" command="$(find wg_robot_description_parser)/merge "$(find wg_robot_description)/pr2/pr2.xml"" />
+ <!-- use mech.py to spawn all controllers listed in controllers.xml -->
<node pkg="mechanism_control" type="mech.py" args="sp $(find wg_robot_description)/pr2/controllers.xml" respawn="false" output="screen" />
@endverbatim
- The following \b control.py node sends a \e set_profile command of 46 to the \b tilt_laser_controller:
@verbatim
+ <!-- start tilting Hokuyo laser by sending it a preset code of 46, this means sawtooth profile sweep.
+ for details of the profile, rates, see controller::LaserScannerControllerNode. -->
<node pkg="robot_mechanism_controllers" type="control.py" args="set tilt_laser_controller 46" respawn="false" output="screen" />
@endverbatim
Property changes on: pkg/trunk/drivers/simulator/gazebo_plugin/gazebo_mcn.jpg
___________________________________________________________________
Added: svn:mime-type
+ application/octet-stream
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/Ros_PTZ.hh
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/Ros_PTZ.hh 2008-09-30 18:54:44 UTC (rev 4822)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/Ros_PTZ.hh 2008-09-30 19:18:07 UTC (rev 4823)
@@ -87,7 +87,7 @@
protected: virtual void LoadChild(XMLConfigNode *node);
/// \brief Save the controller.
- /// \stream Output stream
+ /// stream Output stream
protected: void SaveChild(std::string &prefix, std::ostream &stream);
/// \brief Init the controller
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/Ros_Stereo_Camera.hh
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/Ros_Stereo_Camera.hh 2008-09-30 18:54:44 UTC (rev 4822)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/Ros_Stereo_Camera.hh 2008-09-30 19:18:07 UTC (rev 4823)
@@ -109,7 +109,7 @@
protected: virtual void LoadChild(XMLConfigNode *node);
/// \brief Save the controller.
- /// \stream Output stream
+ /// stream Output stream
protected: void SaveChild(std::string &prefix, std::ostream &stream);
/// \brief Init the controller
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/srv/MoveCartesian.srv
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/srv/MoveCartesian.srv 2008-09-30 18:54:44 UTC (rev 4822)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/srv/MoveCartesian.srv 2008-09-30 19:18:07 UTC (rev 4823)
@@ -1,3 +1,3 @@
-pr2_msgs/EndEffectorState e
+pr2_msgs/MoveEndEffectorState e
---
int32 reachable
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators.xml 2008-09-30 18:54:44 UTC (rev 4822)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/pr2_gazebo_actuators.xml 2008-09-30 19:18:07 UTC (rev 4823)
@@ -1,13 +1,22 @@
<launch>
+ <!-- start a new master if none active -->
+ <master auto="start">
+ <!-- if needed, group tag allows pushing components into namespace via ns="namespace" -->
<group name="wg">
+ <!-- send pr2.xml to parameter server as a string, allow retrieval by various components whe needs it
+ (Mechanism Control, BaseControllerNode, etc...) -->
<param name="robotdesc/pr2" command="$(find wg_robot_description_parser)/merge "$(find wg_robot_description)/pr2/pr2.xml"" />
+ <!-- assign environment variables for gazebo and startup gazebo with argument containing the world file. -->
<node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/world/robot.world" respawn="false" output="screen">
<env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$LD_LIBRARY_PATH" />
<env name="GAZEBO_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
<env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
<env name="MC_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
</node>
+ <!-- use mech.py to spawn all controllers listed in controllers.xml -->
<node pkg="mechanism_control" type="mech.py" args="sp $(find wg_robot_description)/pr2/controllers.xml" respawn="false" output="screen" />
+ <!-- start tilting Hokuyo laser by sending it a preset code of 46, this means sawtooth profile sweep.
+ for details of the profile, rates, see controller::LaserScannerControllerNode. -->
<node pkg="robot_mechanism_controllers" type="control.py" args="set tilt_laser_controller 46" respawn="false" output="screen" />
</group>
</launch>
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