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[Personalrobots-commit] SF.net SVN: personalrobots:[5899] pkg/trunk
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From: <hsu...@us...> - 2008-10-29 00:03:01
|
Revision: 5899
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=5899&view=rev
Author: hsujohnhsu
Date: 2008-10-29 00:02:57 +0000 (Wed, 29 Oct 2008)
Log Message:
-----------
* added demo launch files for pr2, arm, pr2_prototype
* clean up unneeded gazebo_robot_description file links in world/
* removed unused actuators.xml include from pr2.xml
* added needed files for pr2_prototype1 so gazebo runs.
Modified Paths:
--------------
pkg/trunk/robot_descriptions/gazebo_robot_description/CMakeLists.txt
pkg/trunk/robot_descriptions/wg_robot_description/pr2/backup/pr2.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/controllers_base_lab.xml
Added Paths:
-----------
pkg/trunk/demos/arm_gazebo/
pkg/trunk/demos/arm_gazebo/arm.xml
pkg/trunk/demos/arm_gazebo/arm_headless.xml
pkg/trunk/demos/pr2_gazebo/
pkg/trunk/demos/pr2_gazebo/pr2.xml
pkg/trunk/demos/pr2_gazebo/pr2_headless.xml
pkg/trunk/demos/pr2_gazebo/pr2_wg.xml
pkg/trunk/demos/pr2_gazebo/pr2_wg_headless.xml
pkg/trunk/demos/pr2_prototype1_gazebo/
pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/controllers_gazebo_prototype1.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_prototype1.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_prototype1.world
pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/gazebo/
pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/gazebo/controllers_gazebo_prototype1.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/gazebo/gazebo_joints_prototype1.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/gazebo/pr2_prototype1.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/gazebo/pr2_prototype1_gazebo_actuators.xml
Removed Paths:
-------------
pkg/trunk/robot_descriptions/gazebo_robot_description/world/actuators.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/actuators_arm.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/actuators_dual_link.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/actuators_multi_link.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/actuators_single_link.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/groups.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/groups_arm.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/groups_collision.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/groups_dual_link.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/groups_multi_link.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/groups_single_link.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_arm.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_dual_link.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_multi_link.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_single_link.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2d2.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/transmissions.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/transmissions_arm.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/transmissions_dual_link.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/transmissions_multi_link.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/transmissions_single_link.xml
Added: pkg/trunk/demos/arm_gazebo/arm.xml
===================================================================
--- pkg/trunk/demos/arm_gazebo/arm.xml (rev 0)
+++ pkg/trunk/demos/arm_gazebo/arm.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -0,0 +1,15 @@
+<launch>
+ <master auto="start"/>
+ <group name="wg">
+ <param name="robotdesc/pr2" command="$(find wg_robot_description_parser)/merge "$(find wg_robot_description)/pr2_arm_test/pr2_arm.xml"" />
+ <node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/world/robot_arm_test.world" respawn="false" output="screen">
+ <env name="LD_LIBRARY_PATH" value="$(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>
+ <node pkg="mechanism_control" type="mech.py" args="sp $(find wg_robot_description)/pr2_arm_test/controllers_arm.xml" respawn="false" output="screen" /> <!-- load default arm controller -->
+ <node pkg="robot_mechanism_controllers" type="control.py" args="set gripper_left_controller 0.5" respawn="false" output="screen" /> <!-- open gripper .5 radians -->
+ </group>
+</launch>
+
Added: pkg/trunk/demos/arm_gazebo/arm_headless.xml
===================================================================
--- pkg/trunk/demos/arm_gazebo/arm_headless.xml (rev 0)
+++ pkg/trunk/demos/arm_gazebo/arm_headless.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -0,0 +1,17 @@
+<launch>
+ <group name="wg">
+ <param name="robotdesc/pr2" command="$(find wg_robot_description_parser)/merge "$(find wg_robot_description)/pr2_arm_test/pr2_arm.xml"" />
+ <!-- -g flag runs gazebo in gui-less mode -->
+ <node pkg="gazebo" type="gazebo" args="-g -n $(find gazebo_robot_description)/world/robot_arm_test_headless.world" respawn="false" output="screen">
+ <env name="LD_LIBRARY_PATH" value="$(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>
+ <node pkg="mechanism_control" type="mech.py" args="sp $(find wg_robot_description)/pr2_arm_test/controllers_arm.xml" respawn="false" output="screen" /> <!-- load default arm controller -->
+ <node pkg="robot_mechanism_controllers" type="control.py" args="set gripper_left_controller 0.5" respawn="false" output="screen" /> <!-- open gripper .5 radians -->
+ <!-- for visualization -->
+ <node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" />
+ </group>
+</launch>
+
Added: pkg/trunk/demos/pr2_gazebo/pr2.xml
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2.xml (rev 0)
+++ pkg/trunk/demos/pr2_gazebo/pr2.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -0,0 +1,22 @@
+<launch>
+ <!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/wg_robot_description/pr2 -->
+ <!-- if needed, group tag allows pushing components into namespace via ns="namespace" -->
+ <group name="wg">
+ <!-- send pr2.xml to parameter server as a string, allow retrieval by various components whe needs it
+ (Mechanism Control, BaseControllerNode, etc...) -->
+ <param name="robotdesc/pr2" command="$(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 $(find wg_robot_description)/pr2/controllers.xml" respawn="false" output="screen" />
+ <!-- start tilting Hokuyo laser by sending it a preset code of 46, this means sawtooth profile sweep.
+ for details of the profile, rates, see controller::LaserScannerControllerNode. -->
+ <node pkg="robot_mechanism_controllers" type="control.py" args="set tilt_laser_controller 46" respawn="false" output="screen" />
+ </group>
+</launch>
+
Added: pkg/trunk/demos/pr2_gazebo/pr2_headless.xml
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_headless.xml (rev 0)
+++ pkg/trunk/demos/pr2_gazebo/pr2_headless.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -0,0 +1,15 @@
+<launch>
+ <!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/wg_robot_description/pr2 -->
+ <group name="wg">
+ <param name="robotdesc/pr2" command="$(find wg_robot_description_parser)/merge "$(find wg_robot_description)/pr2/pr2.xml"" />
+ <node pkg="gazebo" type="gazebo" args="-g -n $(find gazebo_robot_description)/world/robot_headless.world" respawn="false" output="screen">
+ <env name="LD_LIBRARY_PATH" value="$(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>
+ <node pkg="mechanism_control" type="mech.py" args="sp $(find wg_robot_description)/pr2/controllers.xml" respawn="false" output="screen" />
+ <node pkg="robot_mechanism_controllers" type="control.py" args="set tilt_laser_controller 46" respawn="false" output="screen" />
+ </group>
+</launch>
+
Added: pkg/trunk/demos/pr2_gazebo/pr2_wg.xml
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_wg.xml (rev 0)
+++ pkg/trunk/demos/pr2_gazebo/pr2_wg.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -0,0 +1,15 @@
+<launch>
+ <group name="wg">
+ <param name="robotdesc/pr2" command="$(find wg_robot_description_parser)/merge "$(find wg_robot_description)/pr2/pr2.xml"" />
+ <!-- -g flag runs gazebo in gui-less mode -->
+ <node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/world/robot_wg.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>
+ <node pkg="mechanism_control" type="mech.py" args="sp $(find wg_robot_description)/pr2/controllers.xml" respawn="false" output="screen" />
+ <node pkg="robot_mechanism_controllers" type="control.py" args="set tilt_laser_controller 46" respawn="false" output="screen" />
+ </group>
+</launch>
+
Added: pkg/trunk/demos/pr2_gazebo/pr2_wg_headless.xml
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_wg_headless.xml (rev 0)
+++ pkg/trunk/demos/pr2_gazebo/pr2_wg_headless.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -0,0 +1,15 @@
+<launch>
+ <group name="wg">
+ <param name="robotdesc/pr2" command="$(find wg_robot_description_parser)/merge "$(find wg_robot_description)/pr2/pr2.xml"" />
+ <!-- -g flag runs gazebo in gui-less mode -->
+ <node pkg="gazebo" type="gazebo" args="-n -g $(find gazebo_robot_description)/world/robot_wg_headless.world" respawn="false" output="screen">
+ <env name="LD_LIBRARY_PATH" value="$(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>
+ <node pkg="mechanism_control" type="mech.py" args="sp $(find wg_robot_description)/pr2/controllers.xml" respawn="false" output="screen" />
+ <node pkg="robot_mechanism_controllers" type="control.py" args="set tilt_laser_controller 46" respawn="false" output="screen" />
+ </group>
+</launch>
+
Added: pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1.xml
===================================================================
--- pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1.xml (rev 0)
+++ pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -0,0 +1,23 @@
+<launch>
+ <!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/wg_robot_description/pr2 -->
+ <!-- if needed, group tag allows pushing components into namespace via ns="namespace" -->
+ <group name="wg">
+ <!-- send pr2.xml to parameter server as a string, allow retrieval by various components whe needs it
+ (Mechanism Control, BaseControllerNode, etc...) -->
+ <param name="robotdesc/pr2" command="$(find wg_robot_description_parser)/merge "$(find wg_robot_description)/pr2_prototype1/gazebo/pr2_prototype1.xml"" />
+ <!-- assign environment variables for gazebo and startup gazebo with argument containing the world file. -->
+ <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/world/robot_prototype1.world" respawn="false" output="screen">
+ <env name="LD_LIBRARY_PATH" value="$(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 -->
+ <param name="base_controller/odom_publish_rate" value="30.0"/>
+ <node pkg="mechanism_control" type="mech.py" args="sp $(find wg_robot_description)/pr2_prototype1/controllers_base_lab.xml" 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>
+
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/CMakeLists.txt
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/CMakeLists.txt 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/CMakeLists.txt 2008-10-29 00:02:57 UTC (rev 5899)
@@ -63,4 +63,10 @@
DEPENDS urdf2gazebo
COMMENT "Building Gazebo model for Multi Link Test")
+# pr2_prototype1
+add_custom_target(pr2_prototype1 ALL
+ COMMAND ${urdf2gazebo_exe} ${wg_robot_description_PACKAGE_PATH}/pr2_prototype1/gazebo/pr2_prototype1_gazebo_actuators.xml ${gazebo_robot_description_PACKAGE_PATH}/world/pr2_xml_prototype1.model
+ DEPENDS urdf2gazebo
+ COMMENT "Building Gazebo model for PR2 Prototype1 Test")
+
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/actuators.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/actuators.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/actuators.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -1 +0,0 @@
-link ../../wg_robot_description/pr2/actuators.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/actuators_arm.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/actuators_arm.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/actuators_arm.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -1 +0,0 @@
-link ../../wg_robot_description/pr2_arm_test/actuators_arm.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/actuators_dual_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/actuators_dual_link.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/actuators_dual_link.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -1 +0,0 @@
-link ../../wg_robot_description/dual_link_test/actuators_dual_link.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/actuators_multi_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/actuators_multi_link.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/actuators_multi_link.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -1 +0,0 @@
-link ../../wg_robot_description/multi_link_test/actuators_multi_link.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/actuators_single_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/actuators_single_link.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/actuators_single_link.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -1 +0,0 @@
-link ../../wg_robot_description/single_link_test/actuators_single_link.xml
\ No newline at end of file
Added: pkg/trunk/robot_descriptions/gazebo_robot_description/world/controllers_gazebo_prototype1.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/controllers_gazebo_prototype1.xml (rev 0)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/controllers_gazebo_prototype1.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -0,0 +1 @@
+link ../../wg_robot_description/pr2_prototype1/gazebo/controllers_gazebo_prototype1.xml
\ No newline at end of file
Property changes on: pkg/trunk/robot_descriptions/gazebo_robot_description/world/controllers_gazebo_prototype1.xml
___________________________________________________________________
Added: svn:special
+ *
Added: pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_prototype1.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_prototype1.xml (rev 0)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_prototype1.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -0,0 +1 @@
+link ../../wg_robot_description/pr2_prototype1/gazebo/gazebo_joints_prototype1.xml
\ No newline at end of file
Property changes on: pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_prototype1.xml
___________________________________________________________________
Added: svn:special
+ *
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/groups.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/groups.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/groups.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -1 +0,0 @@
-link ../../wg_robot_description/pr2/groups.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/groups_arm.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/groups_arm.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/groups_arm.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -1 +0,0 @@
-link ../../wg_robot_description/pr2_arm_test/groups_arm.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/groups_collision.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/groups_collision.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/groups_collision.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -1 +0,0 @@
-link ../../wg_robot_description/pr2/groups_collision.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/groups_dual_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/groups_dual_link.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/groups_dual_link.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -1 +0,0 @@
-link ../../wg_robot_description/dual_link_test/groups_dual_link.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/groups_multi_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/groups_multi_link.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/groups_multi_link.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -1 +0,0 @@
-link ../../wg_robot_description/multi_link_test/groups_multi_link.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/groups_single_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/groups_single_link.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/groups_single_link.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -1 +0,0 @@
-link ../../wg_robot_description/single_link_test/groups_single_link.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -1 +0,0 @@
-link ../../wg_robot_description/pr2/pr2.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_arm.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_arm.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_arm.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -1 +0,0 @@
-link ../../wg_robot_description/pr2_arm_test/pr2_arm.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_dual_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_dual_link.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_dual_link.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -1 +0,0 @@
-link ../../wg_robot_description/dual_link_test/pr2_dual_link.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_multi_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_multi_link.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_multi_link.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -1 +0,0 @@
-link ../../wg_robot_description/multi_link_test/pr2_multi_link.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_single_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_single_link.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_single_link.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -1 +0,0 @@
-link ../../wg_robot_description/single_link_test/pr2_single_link.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2d2.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2d2.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2d2.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -1 +0,0 @@
-link ../../wg_robot_description/pr2_arm/pr2d2.xml
\ No newline at end of file
Added: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_prototype1.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_prototype1.world (rev 0)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_prototype1.world 2008-10-29 00:02:57 UTC (rev 5899)
@@ -0,0 +1,349 @@
+<?xml version="1.0"?>
+
+<gazebo:world
+ xmlns:xi="http://www.w3.org/2001/XInclude"
+ xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window"
+ xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param"
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+ xmlns:geo="http://willowgarage.com/xmlschema/#geo"
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+ xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"
+ xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+ xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" >
+
+ <verbosity>5</verbosity>
+
+<!-- cfm is 1e-5 for single precision -->
+<!-- erp is typically .1-.8 -->
+<!-- here's the global contact cfm/erp -->
+ <physics:ode>
+ <stepTime>0.01</stepTime>
+ <gravity>0 0 -9.8</gravity>
+ <cfm>0.0000000001</cfm>
+ <erp>0.2</erp>
+ <quickStep>false</quickStep>
+ </physics:ode>
+
+ <geo:origin>
+ <lat>37.4270909558</lat><lon>-122.077919338</lon>
+ </geo:origin>
+
+ <rendering:gui>
+ <type>fltk</type>
+ <size>1024 800</size>
+ <pos>0 0</pos>
+ <frames>
+ <row height="100%">
+ <camera width="100%">
+ <xyz>0 0 20</xyz>
+ <rpy>0 90 90</rpy>
+ </camera>
+ </row>
+ </frames>
+ </rendering:gui>
+
+
+ <rendering:ogre>
+ <ambient>1.0 1.0 1.0 1.0</ambient>
+ <sky>
+ <material>Gazebo/CloudySky</material>
+ </sky>
+ <gazeboPath>media</gazeboPath>
+ <grid>false</grid>
+ <maxUpdateRate>100</maxUpdateRate>
+ </rendering:ogre>
+
+
+ <model:physical name="gplane">
+ <xyz>0 0 0</xyz>
+ <rpy>0 0 0</rpy>
+ <static>true</static>
+
+ <body:plane name="plane">
+ <geom:plane name="plane">
+ <kp>1000000.0</kp>
+ <kd>1.0</kd>
+ <normal>0 0 1</normal>
+ <size>51.3 51.3</size>
+ <!-- map3.png -->
+ <material>PR2/floor_texture</material>
+ </geom:plane>
+ </body:plane>
+ </model:physical>
+
+ <!--
+ <model:empty name="ros_model">
+ <body:empty name="ros_body">
+ <controller:ros_node name="ros_node" plugin="libRos_Node.so">
+ <nodeName>simulator_ros_node</nodeName>
+ </controller:ros_node>
+ </body:empty>
+ </model:empty>
+ -->
+
+ <!-- The "desk"-->
+ <model:physical name="desk1_model">
+ <xyz> 2.28 -0.21 -0.10</xyz>
+ <rpy> 0.0 0.0 0.00</rpy>
+ <body:box name="desk1_legs_body">
+ <geom:box name="desk1_legs_geom">
+ <kp>100000000.0</kp>
+ <kd>1.0</kd>
+ <xyz> 0.0 0.0 0.50</xyz>
+ <mesh>default</mesh>
+ <size>0.5 1.0 0.75</size>
+ <mass> 10.0</mass>
+ <visual>
+ <size> 0.5 1.0 0.75</size>
+ <material>Gazebo/Rocky</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ <geom:box name="desk1_top_geom">
+ <kp>100000000.0</kp>
+ <kd>0.1</kd>
+ <xyz> 0.0 0.0 0.90</xyz>
+ <mesh>default</mesh>
+ <size>0.75 1.5 0.05</size>
+ <mass> 10.0</mass>
+ <visual>
+ <size> 0.75 1.5 0.05</size>
+ <material>Gazebo/Rocky</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <!-- The second "desk"-->
+ <model:physical name="desk2_model">
+ <xyz> 2.25 -3.0 -0.10</xyz>
+ <rpy> 0.0 0.0 0.00</rpy>
+ <body:box name="desk2_legs_body">
+ <geom:box name="desk2_legs_geom">
+ <kp>1000000.0</kp>
+ <kd>1.0</kd>
+ <xyz> 0.0 0.0 0.50</xyz>
+ <mesh>default</mesh>
+ <size>0.5 1.0 0.75</size>
+ <mass> 10.0</mass>
+ <visual>
+ <size> 0.5 1.0 0.75</size>
+ <material>Gazebo/Rocky</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ <geom:box name="desk2_top_geom">
+ <kp>1000000.0</kp>
+ <kd>1.0</kd>
+ <xyz> 0.0 0.0 0.90</xyz>
+ <mesh>default</mesh>
+ <size>0.75 1.5 0.05</size>
+ <mass> 10.0</mass>
+ <visual>
+ <size> 0.75 1.5 0.05</size>
+ <material>Gazebo/Rocky</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <!-- The small cylinder "cup" -->
+ <model:physical name="cylinder1_model">
+ <xyz> 2.5 0.0 0.9</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
+ <body:cylinder name="cylinder1_body">
+ <geom:cylinder name="cylinder1_geom">
+ <kp>100000000.0</kp>
+ <kd>0.1</kd>
+ <mesh>default</mesh>
+ <size>0.025 0.075</size>
+ <mass> 0.05</mass>
+ <visual>
+ <size> 0.05 0.05 0.075</size>
+ <material>Gazebo/PioneerBody</material>
+ <mesh>unit_cylinder</mesh>
+ </visual>
+ </geom:cylinder>
+ <geom:box name="cylinder1_base_geom">
+ <kp>100000000.0</kp>
+ <kd>0.1</kd>
+ <mesh>default</mesh>
+ <xyz>0.0 0.0 -0.033</xyz>
+ <size>0.05 0.05 0.01</size>
+ <mass> 0.01</mass>
+ <visual>
+ <size> 0.05 0.05 0.01</size>
+ <material>Gazebo/Fish</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:cylinder>
+ </model:physical>
+
+ <!-- The small box "cup" -->
+ <model:physical name="object1_model">
+ <xyz> 0.835 -0.55 0.95</xyz>
+ <rpy> 0.0 0.0 30.0</rpy>
+ <body:box name="object1_body">
+ <geom:box name="object1_geom">
+ <kp>100000000.0</kp>
+ <kd>0.1</kd>
+ <mesh>default</mesh>
+ <size>0.1 0.03 0.03</size>
+ <mass> 0.05</mass>
+ <visual>
+ <size> 0.1 0.030 0.03</size>
+ <material>Gazebo/PioneerBody</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+
+ <controller:P3D name="p3d_object_controller" plugin="libP3D.so">
+ <updateRate>100.0</updateRate>
+ <bodyName>object1_body</bodyName>
+ <topicName>object1_body_ground_truth</topicName>
+ <frameName>object1_body_ground_truth_frame</frameName>
+ <interface:position name="p3d_object_position"/>
+ </controller:P3D>
+
+ </model:physical>
+
+
+ <!-- The small ball -->
+ <model:physical name="sphere1_model">
+ <xyz> 2.5 -2.8 1.0</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
+ <body:sphere name="sphere1_body">
+ <geom:sphere name="sphere1_geom">
+ <kp>1000000.0</kp>
+ <kd>1.0</kd>
+ <mesh>default</mesh>
+ <size> 0.15</size>
+ <mass> 1.0</mass>
+ <visual>
+ <size> 0.3 0.3 0.3</size>
+ <material>Gazebo/PioneerBody</material>
+ <mesh>unit_sphere</mesh>
+ </visual>
+ </geom:sphere>
+ </body:sphere>
+ </model:physical>
+
+ <!-- The large ball map3.png -->
+ <model:physical name="sphere2_model">
+ <xyz> 5.85 4.35 1.55</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
+ <body:sphere name="sphere2_body">
+ <geom:sphere name="sphere2_geom">
+ <kp>1000000.0</kp>
+ <kd>1.0</kd>
+ <mesh>default</mesh>
+ <size> 1.0</size>
+ <mass> 1.0</mass>
+ <visual>
+ <size> 2.0 2.0 2.0</size>
+ <material>Gazebo/Rocky</material>
+ <mesh>unit_sphere</mesh>
+ </visual>
+ </geom:sphere>
+ </body:sphere>
+ </model:physical>
+
+ <!-- The wall in front map3.png -->
+ <model:physical name="wall_2_model">
+ <xyz> 11.6 -1.55 1.0</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:box name="wall_2_body">
+ <geom:box name="wall_2_geom">
+ <mesh>default</mesh>
+ <size>2.1 32.8 2.0</size>
+ <visual>
+ <size>2.1 32.8 2.0</size>
+ <material>Gazebo/PioneerBody</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <!-- The wall behind -->
+ <model:physical name="wall_1_model">
+ <xyz> -11.3 -1.45 1.0</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:box name="wall_1_body">
+ <geom:box name="wall_1_geom">
+ <mesh>default</mesh>
+ <size>0.4 24.0 2.0</size>
+ <visual>
+ <size>0.4 24.0 2.0</size>
+ <material>Gazebo/PioneerBody</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <!-- The wall 3 -->
+ <model:physical name="wall_3_model">
+ <xyz> 6.7 8.05 1.0</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:box name="wall_3_body">
+ <geom:box name="wall_3_geom">
+ <mesh>default</mesh>
+ <size>7.5 1.2 2.0</size>
+ <visual>
+ <size>7.5 1.2 2.0</size>
+ <material>Gazebo/Chrome</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+
+
+ <model:physical name="robot_model1">
+
+ <controller:ros_time name="ros_time" plugin="libRos_Time.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>100.0</updateRate>
+ <interface:audio name="dummy_ros_time_iface_should_not_be_here"/>
+ </controller:ros_time>
+
+ <xyz>0.0 0.0 0.0408</xyz> <!-- bottom of base off the ground by this much, basically wheel height below skirt -->
+ <rpy>0.0 0.0 0.0 </rpy>
+
+ <!-- base, torso and arms -->
+ <include embedded="true">
+ <xi:include href="pr2_xml_prototype1.model" />
+ </include>
+
+ </model:physical>
+
+
+ <!-- White Directional light -->
+ <model:renderable name="directional_white">
+ <light>
+ <type>directional</type>
+ <direction>0 -0.5 -0.5</direction>
+ <diffuseColor>0.4 0.4 0.4</diffuseColor>
+ <specularColor>0.0 0.0 0.0</specularColor>
+ <attenuation>1 0.0 1.0 0.4</attenuation>
+ </light>
+ </model:renderable>
+
+
+</gazebo:world>
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/transmissions.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/transmissions.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/transmissions.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -1 +0,0 @@
-link ../../wg_robot_description/pr2/transmissions.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/transmissions_arm.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/transmissions_arm.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/transmissions_arm.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -1 +0,0 @@
-link ../../wg_robot_description/pr2_arm_test/transmissions_arm.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/transmissions_dual_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/transmissions_dual_link.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/transmissions_dual_link.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -1 +0,0 @@
-link ../../wg_robot_description/dual_link_test/transmissions_dual_link.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/transmissions_multi_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/transmissions_multi_link.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/transmissions_multi_link.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -1 +0,0 @@
-link ../../wg_robot_description/multi_link_test/transmissions_multi_link.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/transmissions_single_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/transmissions_single_link.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/transmissions_single_link.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -1 +0,0 @@
-link ../../wg_robot_description/single_link_test/transmissions_single_link.xml
\ No newline at end of file
Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2/backup/pr2.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2/backup/pr2.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/backup/pr2.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -2311,7 +2311,6 @@
<!-- Define groups of links; a link may be part of multiple groups -->
<include>groups.xml</include>
<!-- new definitions for mechanism controls - JMH -->
- <include>actuators.xml</include>
<include>transmissions.xml</include>
<!-- Kinematic chains -->
Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -2311,7 +2311,6 @@
<!-- Define groups of links; a link may be part of multiple groups -->
<include>groups.xml</include>
<!-- new definitions for mechanism controls - JMH -->
- <include>actuators.xml</include>
<include>transmissions.xml</include>
<!-- Kinematic chains -->
Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/controllers_base_lab.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/controllers_base_lab.xml 2008-10-28 23:51:53 UTC (rev 5898)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/controllers_base_lab.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -80,5 +80,25 @@
</controller>
+ <!-- head and above array -->
+ <controller name="head_pan_controller" topic="head_pan_controller" type="JointPositionControllerNode">
+ <listen_topic name="head_pan_commands" />
+ <joint name="head_pan_joint" >
+ <pid p="100" d="0" i="0" iClamp="0" />
+ </joint>
+ </controller>
+ <controller name="head_tilt_controller" topic="head_tilt_controller" type="JointPositionControllerNode">
+ <listen_topic name="head_tilt_commands" />
+ <joint name="head_tilt_joint" >
+ <pid p="100" d="0" i="0" iClamp="0" />
+ </joint>
+ </controller>
+ <controller name="tilt_laser_controller" topic="tilt_laser_controller" type="LaserScannerControllerNode">
+ <joint name="tilt_laser_mount_joint" >
+ <pid p="0.4" d="0" i="0" iClamp="0.1" />
+ </joint>
+ </controller>
+
+
</controllers>
Added: pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/gazebo/controllers_gazebo_prototype1.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/gazebo/controllers_gazebo_prototype1.xml (rev 0)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/gazebo/controllers_gazebo_prototype1.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -0,0 +1,45 @@
+<?xml version="1.0"?>
+
+<robot name="pr2"><!-- name of the robot-->
+
+
+
+<map name="transmissions_gazebo_mechanism_control" flag="gazebo"> <!-- we can set a name too, but the convertor only cares about the flag -->
+ <verbatim key="transmissions_gazebo_mechanism_control" includes="true"> <!-- The key attribute is needed noly if multiple <xml> tags are in the same <map> tag -->
+
+ <!-- PR2_ACTARRAY -->
+ <controller:gazebo_mechanism_control name="gazebo_mechanism_control" plugin="libgazebo_mechanism_control.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>100.0</updateRate>
+
+ <gazebo_physics filename="gazebo_joints_prototype1.xml" /> <!-- for simulator/physics specific settigs -->
+
+ <interface:audio name="gazebo_mechanism_control_dummy_iface" />
+ </controller:gazebo_mechanism_control>
+
+ </verbatim>
+</map>
+
+
+<map name="controllers" flag="gazebo"> <!-- we can set a name too, but the convertor only cares about the flag -->
+ <verbatim key="controllers"> <!-- The key attribute is needed noly if multiple <xml> tags are in the same <map> tag -->
+
+ <!-- battery controls -->
+ <controller:gazebo_battery name="gazebo_battery_controller" plugin="libgazebo_battery.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>1.0</updateRate>
+ <timeout>5</timeout>
+ <diagnostic_rate>1.0</diagnostic_rate>
+ <battery_state_rate>1.0</battery_state_rate>
+ <full_charge_energy>120.0</full_charge_energy>
+ <diagnosticTopicName>diagnostic</diagnosticTopicName>
+ <stateTopicName>battery_state</stateTopicName>
+ <selfTestServiceName>self_test</selfTestServiceName>
+ <interface:audio name="battery_dummy_interface" />
+ </controller:gazebo_battery>
+
+ </verbatim>
+</map>
+
+</robot>
+
Added: pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/gazebo/gazebo_joints_prototype1.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/gazebo/gazebo_joints_prototype1.xml (rev 0)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/gazebo/gazebo_joints_prototype1.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -0,0 +1,53 @@
+<robot name="pr2">
+ <joint name="caster_front_left_joint" >
+ <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
+ <kp_speed>1.0</kp_speed>
+ </joint>
+ <joint name="wheel_front_left_l_joint" >
+ </joint>
+ <joint name="wheel_front_left_r_joint" >
+ </joint>
+ <joint name="caster_front_right_joint" >
+ <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
+ <kp_speed>1.0</kp_speed>
+ </joint>
+ <joint name="wheel_front_right_l_joint" >
+ </joint>
+ <joint name="wheel_front_right_r_joint" >
+ </joint>
+ <joint name="caster_rear_left_joint" >
+ <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
+ <kp_speed>1.0</kp_speed>
+ </joint>
+ <joint name="wheel_rear_left_l_joint" >
+ </joint>
+ <joint name="wheel_rear_left_r_joint" >
+ </joint>
+ <joint name="caster_rear_right_joint" >
+ <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
+ <kp_speed>1.0</kp_speed>
+ </joint>
+ <joint name="wheel_rear_right_l_joint" >
+ </joint>
+ <joint name="wheel_rear_right_r_joint" >
+ </joint>
+
+ <!-- ========================================= -->
+ <!-- torso array -->
+ <joint name="torso_joint">
+ <explicitDampingCoefficient>10.0</explicitDampingCoefficient>
+ </joint>
+ <!-- ========================================= -->
+ <!-- head and above array -->
+ <joint name="head_pan_joint" >
+ <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
+ </joint>
+ <joint name="head_tilt_joint" >
+ <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
+ </joint>
+ <joint name="tilt_laser_mount_joint" >
+ <explicitDampingCoefficient>1.0</explicitDampingCoefficient>
+ </joint>
+
+
+</robot>
Added: pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/gazebo/pr2_prototype1.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/gazebo/pr2_prototype1.xml (rev 0)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/gazebo/pr2_prototype1.xml 2008-10-29 00:02:57 UTC (rev 5899)
@@ -0,0 +1,835 @@
+<?xml version="1.0" ?>
+<robot name="pr2">
+
+
+
+
+
+ <joint name="base_joint" type="planar"/><link name="base">
+ <parent name="world"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <joint name="base_joint"/>
+
+ <inertial>
+ <mass value="70.750964"/>
+ <com xyz="0 0 0"/>
+ <inertia ixx="5.652232699207" ixy="-0.009719934438" ixz="1.293988226423" iyy="5.669473158652" iyz="-0.007379583694" izz="3.683196351726"/>
+ </inertial>
+
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <map flag="gazebo" name="gazebo_material">
+ <elem key="material">Gazebo/Green</elem>
+ </map>
+ <geometry name="pr2_base_mesh_file">
+ <mesh filename="base"/>
+ </geometry>
+ </visual>
+
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.13"/>
+ <geometry name="base_collision_geom">
+ <box size="0.65 0.65 0.26"/>
+ </geometry>
+ </collision>
+ </link><joint name="base_laser_joint" type="fixed">
+ <axis xyz="0 1 0"/>
+ <anchor xyz="0 0 0"/>
+ </joint><sensor name="base_laser" type="laser">
+ <calibration filename="calib_filename"/>
+ <parent name="base"/>
+ <origin rpy="0 0 0" xyz="0.275 0 0.182"/>
+ <joint name="base_laser_joint"/>
+ <inertial>
+ <mass value="1.0"/>
+ <com xyz="0 0 0"/>
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+ </inertial>
+
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0.12"/>
+ <map flag="gazebo" name="gazebo_material">
+ <elem key="material">Gazebo/PioneerBody</elem>
+ </map>
+ <geometry name="pr2_base_laser_geom">
+ <mesh scale="0.001 0.001 0.001"/>
+ </geometry>
+ </visual>
+
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.12"/>
+ <geometry name="base_laser_collision_geom">
+ <box size=".001 .001 .001"/>
+ </geometry>
+ </collision>
+
+ <map flag="gazebo" name="sensor">
+ <verbatim key="sensor_ray">
+ <sensor:ray name="base_laser">
+ <rayCount>683</rayCount>
+ <rangeCount>683</rangeCount>
+ <laserCount>1</laserCount>
+ <origin>0.0 0.0 0.17</origin> <!-- FIXME: for verbatim, adjust this number according to base_laser_center_box_center_offset_z -->
+ <displayRays>false</displayRays>
+
+ <minAngle>-90</minAngle>
+ <maxAngle>90</maxAngle>
+
+ <minRange>0.05</minRange>
+ <maxRange>10.0</maxRange>
+ <updateRate>10.0</updateRate>
+ <controller:ros_laser name="ros_base_laser_controller" plugin="libRos_Laser.so">
+ <gaussianNoise>0.005</gaussianNoise>
+ <alwaysOn>true</alwaysOn>
+ <updateRate>10</updateRate>
+ <topicName>base_scan</topicName>
+ <frameName>base_laser</frameName>
+ <interface:laser name="ros_base_laser_iface"/>
+ </controller:ros_laser>
+ </sensor:ray>
+ </verbatim>
+ </map>
+ </sensor><joint name="caster_front_left_joint" type="revolute">
+ <axis xyz="0 0 1"/>
+ <anchor xyz="0 0 0"/>
+ <calibration values="1.5 -1"/>
+ <limit effort="100" velocity="5"/>
+ </joint><link name="caster_front_left">
+ <parent name="base"/>
+ <origin rpy="0 0 0" xyz="0.2225 0.2225 0.0282"/>
+ <joint name="caster_front_left_joint"/>
+
+ <inertial>
+ <mass value="3.473082"/>
+ <com xyz="0 0 0"/>
+ <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
+ </inertial>
+
+ <visual>
+ <origin rpy="0 0 0 " xyz="0 0 0"/>
+ <map flag="gazebo" name="gazebo_material">
+ <elem key="material">Gazebo/Green</elem>
+ </map>
+ <geometry name="pr2_caster_mesh_file">
+ <mesh filename="caster" scale="1 1 1"/>
+ </geometry>
+ </visual>
+
+ <collision>
+ <origin rpy="0.0 0.0 0.0 " xyz="0 0 0"/>
+ <geometry name="caster_collision_geom">
+ <box size="0.192 0.164 0.013"/>
+ </geometry>
+ </collision>
+ </link><transmission name="caster_front_left_trans" type="SimpleTransmission">
+ <actuator name="caster_front_left_motor"/>
+ <joint name="caster_front_left_joint"/>
+ <mechanicalReduction>-75.05</mechanicalReduction>
+ </transmission><joint name="wheel_front_left_l_joint" type="revolute">
+ <axis xyz=" 0 1 0 "/>
+ <anchor xyz="0 0 0"/>
+ <limit effort="100" velocity="5"/>
+ <calibration values="1.5 -1"/>
+ </joint><link name="wheel_front_left_l">
+ <parent name="caster_front_left"/>
+ <joint name="wheel_front_left_l_joint"/>
+ <origin rpy="0 0 0" xyz="0 0.049 0"/>
+ <inertial>
+ <mass value="0.44036"/>
+ <com xyz=" 0 0 0 "/>
+ <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <map flag="gazebo" name="gazebo_material">
+ <!-- TODO should be different for left and right wheel-->
+ <elem key="material">Gazebo/Red</elem>
+ </map>
+ <geometry name="pr2_wheel_mesh_file">
+ <mesh filename="wheel_right"/>
+ </geometry>
+
+ </visual>
+ <collision>
+ <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+ <geometry name="pr2_wheel_collision_geom">
+ <cylinder length="0.03" radius="0.079"/>
+ </geometry>
+ <map flag="gazebo" name="friction_coefficients">
+ <elem key="mu1" value="50.0"/>
+ <elem key="mu2" value="50.0"/>
+ </map>
+ </collision>
+ </link><transmission name="wheel_front_left_l_trans" type="SimpleTransmission">
+ <actuator name="wheel_front_left_l_motor"/>
+ <joint name="wheel_front_left_l_joint"/>
+ <mechanicalReduction>75.05</mechanicalReduction>
+ </transmission><joint name="wheel_front_left_r_joint" type="revolute">
+ <axis xyz=" 0 1 0 "/>
+ <anchor xyz="0 0 0"/>
+ <limit effort="100" velocity="5"/>
+ <calibration values="1.5 -1"/>
+ </joint><link name="wheel_front_left_r">
+ <parent name="caster_front_left"/>
+ <joint name="wheel_front_left_r_joint"/>
+ <origin rpy="0 0 0" xyz="0 -0.049 0"/>
+ <inertial>
+ <mass value="0.44036"/>
+ <com xyz=" 0 0 0 "/>
+ <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <map flag="gazebo" name="gazebo_material">
+ <!-- TODO should be different for left and right wheel-->
+ <elem key="material">Gazebo/Red</elem>
+ </map>
+ <geometry name="pr2_wheel_mesh_file">
+ <mesh filename="wheel_right"/>
+ </geometry>
+
+ </visual>
+ <collision>
+ <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+ <geometry name="pr2_wheel_collision_geom">
+ <cylinder length="0.03" radius="0.079"/>
+ </geometry>
+ <map flag="gazebo" name="friction_coefficients">
+ <elem key="mu1" value="50.0"/>
+ <elem key="mu2" value="50.0"/>
+ </map>
+ </collision>
+ </link><transmission name="wheel_front_left_r_trans" type="SimpleTransmission">
+ <actuator name="wheel_front_left_r_motor"/>
+ <joint name="wheel_front_left_r_joint"/>
+ <mechanicalReduction>-75.05</mechanicalReduction>
+ </transmission><joint name="caster_front_right_joint" type="revolute">
+ <axis xyz="0 0 1"/>
+ <anchor xyz="0 0 0"/>
+ <calibration values="1.5 -1"/>
+ <limit effort="100" velocity="5"/>
+ </joint><link name="caster_front_right">
+ <parent name="base"/>
+ <origin rpy="0 0 0" xyz="0.2225 -0.2225 0.0282"/>
+ <joint name="caster_front_right_joint"/>
+
+ <inertial>
+ <mass value="3.473082"/>
+ <com xyz="0 0 0"/>
+ <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
+ </inertial>
+
+ <visual>
+ <origin rpy="0 0 0 " xyz="0 0 0"/>
+ <map flag="gazebo" name="gazebo_material">
+ <elem key="material">Gazebo/Green</elem>
+ </map>
+ <geometry name="pr2_caster_mesh_file">
+ <mesh filename="caster" scale="1 1 1"/>
+ </geometry>
+ </visual>
+
+ <collision>
+ <origin rpy="0.0 0.0 0.0 " xyz="0 0 0"/>
+ <geometry name="caster_collision_geom">
+ <box size="0.192 0.164 0.013"/>
+ </geometry>
+ </collision>
+ </link><transmission name="caster_front_right_trans" type="SimpleTransmission">
+ <actuator name="caster_front_right_motor"/>
+ <joint name="caster_front_right_joint"/>
+ <mechanicalReduction>-75.05</mechanicalReduction>
+ </transmission><joint name="wheel_front_right_l_joint" type="revolute">
+ <axis xyz=" 0 1 0 "/>
+ <anchor xyz="0 0 0"/>
+ <limit effort="100" velocity="5"/>
+ <calibration values="1.5 -1"/>
+ </joint><link name="wheel_front_right_l">
+ <parent name="caster_front_right"/>
+ <joint name="wheel_front_right_l_joint"/>
+ <origin rpy="0 0 0" xyz="0 0.049 0"/>
+ <inertial>
+ <mass value="0.44036"/>
+ <com xyz=" 0 0 0 "/>
+ <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <map flag="gazebo" name="gazebo_material">
+ <!-- TODO should be different for left and right wheel-->
+ <elem key="material">Gazebo/Red</elem>
+ </map>
+ <geometry name="pr2_wheel_mesh_file">
+ <mesh filename="wheel_right"/>
+ </geometry>
+
+ </visual>
+ <collision>
+ <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+ <geometry name="pr2_wheel_collision_geom">
+ <cylinder length="0.03" radius="0.079"/>
+ </geometry>
+ <map flag="gazebo" name="friction_coefficients">
+ <elem key="mu1" value="50.0"/>
+ <elem key="mu2" value="50.0"/>
+ </map>
+ </collision>
+ </link><transmission name="wheel_front_right_l_trans" type="SimpleTransmission">
+ <actuator name="wheel_front_right_l_motor"/>
+ <joint name="wheel_front_right_l_joint"/>
+ <mechanicalReduction>75.05</mechanicalReduction>
+ </transmission><joint name="wheel_front_right_r_joint" type="revolute">
+ <axis xyz=" 0 1 0 "/>
+ <anchor xyz="0 0 0"/>
+ <limit effort="100" velocity="5"/>
+ <calibration values="1.5 -1"/>
+ </joint><link name="wheel_front_right_r">
+ <parent name="caster_front_right"/>
+ <joint name="wheel_front_right_r_joint"/>
+ <origin rpy="0 0 0" xyz="0 -0.049 0"/>
+ <inertial>
+ <mass value="0.44036"/>
+ <com xyz=" 0 0 0 "/>
+ <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <map flag="gazebo" name="gazebo_material">
+ <!-- TODO should be different for left and right wheel-->
+ <elem key="material">Gazebo/Red</elem>
+ </map>
+ <geometry name="pr2_wheel_mesh_file">
+ <mesh filename="wheel_right"/>
+ </geometry>
+
+ </visual>
+ <collision>
+ <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+ <geometry name="pr2_wheel_collision_geom">
+ <cylinder length="0.03" radius="0.079"/>
+ </geometry>
+ <map flag="gazebo" name="friction_coefficients">
+ <elem key="mu1" value="50.0"/>
+ <elem key="mu2" value="50.0"/>
+ </map>
+ </collision>
+ </link><transmission name="wheel_front_right_r_trans" type="SimpleTransmission">
+ <actuator name="wheel_front_right_r_motor"/>
+ <joint name="wheel_front_right_r_joint"/>
+ <mechanicalReduction>-75.05</mechanicalReduction>
+ </transmission><joint name="caster_rear_left_joint" type="revolute">
+ <axis xyz="0 0 1"/>
+ <anchor xyz="0 0 0"/>
+ <calibration values="1.5 -1"/>
+ <limit effort="100" velocity="5"/>
+ </joint><link name="caster_rear_left">
+ <parent name="base"/>
+ <origin rpy="0 0 0" xyz="-0.2225 0.2225 0.0282"/>
+ <joint name="caster_rear_left_joint"/>
+
+ <inertial>
+ <mass value="3.473082"/>
+ <com xyz="0 0 0"/>
+ <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
+ </inertial>
+
+ <visual>
+ <origin rpy="0 0 0 " xyz="0 0 0"/>
+ <map flag="gazebo" name="gazebo_material">
+ <elem key="material">Gazebo/Green</elem>
+ </map>
+ <geometry name="pr2_caster_mesh_file">
+ <mesh filename="caster" scale="1 1 1"/>
+ ...
[truncated message content] |
