[Personalrobots-commit] SF.net SVN: personalrobots:[4904] pkg/trunk

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

Revision: 4904
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=4904&view=rev
Author:   hsujohnhsu
Date:     2008-10-01 23:27:41 +0000 (Wed, 01 Oct 2008)

Log Message:
-----------
commented out pose compensation in Gazebo.

Modified Paths:
--------------
    pkg/trunk/3rdparty/gazebo/gazebo_patch.diff
    pkg/trunk/robot_descriptions/gazebo_robot_description/src/urdf2gazebo.cpp
    pkg/trunk/robot_descriptions/wg_robot_description/dual_link_test/pr2_dual_link.xml

Modified: pkg/trunk/3rdparty/gazebo/gazebo_patch.diff
===================================================================
--- pkg/trunk/3rdparty/gazebo/gazebo_patch.diff	2008-10-01 23:16:51 UTC (rev 4903)
+++ pkg/trunk/3rdparty/gazebo/gazebo_patch.diff	2008-10-01 23:27:41 UTC (rev 4904)
@@ -556,6 +556,14 @@
  // Return the ID of this body
  dBodyID Body::GetId() const
  {
+@@ -505,6 +590,7 @@
+ */
+ void Body::UpdateCoM()
+ {
++    return;
+   const dMass *lmass;
+   Pose3d oldPose, newPose, pose;
+   std::map< std::string, Geom* >::iterator giter;
 Index: server/physics/HingeJoint.cc
 ===================================================================
 --- server/physics/HingeJoint.cc	(revision 7049)
@@ -1168,18 +1176,6 @@
      this->RTTMode="PBuffer";
    }
  }
-Index: server/gui/StatusBar.cc
-===================================================================
---- server/gui/StatusBar.cc	(revision 7049)
-+++ server/gui/StatusBar.cc	(working copy)
-@@ -25,6 +25,7 @@
-  */
- 
- #include <stdio.h>
-+#include <string.h>
- #include <FL/Fl_Value_Output.H>
- #include <FL/Fl_Output.H>
- #include <FL/Fl_Button.H>
 Index: server/Model.cc
 ===================================================================
 --- server/Model.cc	(revision 7049)
@@ -1251,6 +1247,18 @@
    return this->UpdateChild();
  }
  
+Index: server/gui/StatusBar.cc
+===================================================================
+--- server/gui/StatusBar.cc	(revision 7049)
++++ server/gui/StatusBar.cc	(working copy)
+@@ -25,6 +25,7 @@
+  */
+ 
+ #include <stdio.h>
++#include <string.h>
+ #include <FL/Fl_Value_Output.H>
+ #include <FL/Fl_Output.H>
+ #include <FL/Fl_Button.H>
 Index: server/World.hh
 ===================================================================
 --- server/World.hh	(revision 7049)

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/src/urdf2gazebo.cpp
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/src/urdf2gazebo.cpp	2008-10-01 23:16:51 UTC (rev 4903)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/src/urdf2gazebo.cpp	2008-10-01 23:27:41 UTC (rev 4904)
@@ -315,7 +315,7 @@
 		for (int j = 0 ; j < 3 ; ++j)
 		{
 		    // undo Gazebo's shift of object anchor to geom xyz, stay in body cs
-		    tmpAnchor[j] = (link->joint->anchor)[j] - 0.0*(link->inertial->com)[j] - 0.5*(link->collision->xyz)[j]; /// @todo compensate for gazebo's error.  John is fixing this one
+		    tmpAnchor[j] = (link->joint->anchor)[j] - 0.0*(link->inertial->com)[j] - 0.0*(link->collision->xyz)[j]; /// @todo compensate for gazebo's error.  John is fixing this one
 		}
 		
 		addKeyValue(joint, "anchorOffset", values2str(3, tmpAnchor));

Modified: pkg/trunk/robot_descriptions/wg_robot_description/dual_link_test/pr2_dual_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/dual_link_test/pr2_dual_link.xml	2008-10-01 23:16:51 UTC (rev 4903)
+++ pkg/trunk/robot_descriptions/wg_robot_description/dual_link_test/pr2_dual_link.xml	2008-10-01 23:27:41 UTC (rev 4904)
@@ -50,7 +50,7 @@
   
   <link name="link1">
     <parent name="base_block" />
-    <origin xyz="0 0 1" rpy="0 0 0" />
+    <origin xyz="0 0 2" rpy="0 0 0" />
     <joint name="link1_joint" />
     <inertial >
       <mass value="10" />
@@ -85,7 +85,7 @@
     <joint name="link2_joint" />
     <inertial >
       <mass value="10" />
-      <com xyz="0 0 0" /> 
+      <com xyz="0.0 0 0" /> 
       <inertia  ixx="0.1" ixy="0.0"  ixz="0.0"  iyy="0.1"  iyz="0.0"  izz="0.1" />
     </inertial>
     <visual >


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