[Personalrobots-commit] SF.net SVN: personalrobots:[6294] pkg/trunk

[<ge...@us...>]

Revision: 6294
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=6294&view=rev
Author:   gerkey
Date:     2008-11-05 23:24:34 +0000 (Wed, 05 Nov 2008)

Log Message:
-----------
Added -g option to rosstage to disable gui.  Added example launch file that
uses this option.

Modified Paths:
--------------
    pkg/trunk/simulators/rosstage/rosstage.cc

Added Paths:
-----------
    pkg/trunk/demos/2dnav_stage/2dnav_stage_2.5cm.xml

Added: pkg/trunk/demos/2dnav_stage/2dnav_stage_2.5cm.xml
===================================================================
--- pkg/trunk/demos/2dnav_stage/2dnav_stage_2.5cm.xml	                        (rev 0)
+++ pkg/trunk/demos/2dnav_stage/2dnav_stage_2.5cm.xml	2008-11-05 23:24:34 UTC (rev 6294)
@@ -0,0 +1,26 @@
+<launch>
+
+  <group name="wg">
+    <node pkg="rosstage" type="rosstage" args="-g $(find 2dnav_stage)/willow-pr2-2.5cm.world" respawn="false" output="screen"/>
+    <node pkg="map_server" type="map_server" args="$(find 2dnav_stage)/willow-full-0.025.pgm 0.025" respawn="false" output="screen"/>
+    <param name="pf_laser_max_beams" value="6"/>
+    <param name="pf_min_samples" value="100"/>
+    <param name="pf_max_samples" value="1000"/>
+    <param name="pf_odom_drift_xx" value="0.1"/>
+    <param name="pf_odom_drift_yy" value="0.1"/>
+    <param name="pf_odom_drift_aa" value="0.1"/>
+    <param name="pf_odom_drift_xa" value="0.1"/>
+    <param name="pf_min_d" value="0.25"/>  <!-- 25cm -->
+    <param name="pf_min_a" value="0.349"/> <!-- 20 degrees -->
+    <node pkg="amcl_player" type="amcl_player" respawn="false" output="screen">
+      <remap from="scan" to="base_scan" />
+    </node>
+    <param name="robot_radius" value="0.325"/>
+    <node pkg="wavefront_player" type="wavefront_player" respawn="false" output="screen">
+      <remap from="scan" to="base_scan" />
+    </node>
+    <node pkg="nav_view" type="nav_view" respawn="false" output="screen"/>
+    <!--node pkg="nav_view_sdl" type="nav_view" respawn="false" output="screen"/> -->
+  </group>
+</launch>
+

Modified: pkg/trunk/simulators/rosstage/rosstage.cc
===================================================================
--- pkg/trunk/simulators/rosstage/rosstage.cc	2008-11-05 23:23:49 UTC (rev 6293)
+++ pkg/trunk/simulators/rosstage/rosstage.cc	2008-11-05 23:24:34 UTC (rev 6294)
@@ -119,7 +119,7 @@
   public:
     // Constructor; stage itself needs argc/argv.  fname is the .world file
     // that stage should load.
-    StageNode(int argc, char** argv, const char* fname);
+    StageNode(int argc, char** argv, bool gui, const char* fname);
     ~StageNode();
 
     // Subscribe to models of interest.  Currently, we find and subscribe
@@ -135,7 +135,7 @@
     void cmdvelReceived();
 
     // The main simulator object
-    Stg::StgWorldGui* world;
+    Stg::StgWorld* world;
 };
 
 void
@@ -164,7 +164,7 @@
   this->lock.unlock();
 }
 
-StageNode::StageNode(int argc, char** argv, const char* fname) :
+StageNode::StageNode(int argc, char** argv, bool gui, const char* fname) :
   ros::node("rosstage"),
   tf(*this)
 {
@@ -173,9 +173,12 @@
 
   // initialize libstage
   Stg::Init( &argc, &argv );
-  //StgWorld world;
-  this->world = new Stg::StgWorldGui(800, 700, "Stage (ROS)");
 
+  if(gui)
+    this->world = new Stg::StgWorldGui(800, 700, "Stage (ROS)");
+  else
+    this->world = new Stg::StgWorld();
+
   this->world->Load(fname);
 
   this->world->ForEachModel((GHFunc)ghfunc, this);
@@ -313,8 +316,15 @@
 
   ros::init(argc,argv);
 
-  StageNode sn(argc,argv,argv[1]);
+  bool gui = true;
+  for(int i=0;i<(argc-1);i++)
+  {
+    if(!strcmp(argv[i], "-g"))
+      gui = false;
+  }
 
+  StageNode sn(argc,argv,gui,argv[argc-1]);
+
   if(sn.SubscribeModels() != 0)
     exit(-1);
 


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