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[Personalrobots-commit] SF.net SVN: personalrobots:[6395] pkg/trunk
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From: <hsu...@us...> - 2008-11-07 20:37:16
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Revision: 6395
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=6395&view=rev
Author: hsujohnhsu
Date: 2008-11-07 20:37:09 +0000 (Fri, 07 Nov 2008)
Log Message:
-----------
all simulations should run at 1kHz with throttle gui updates.
removed all headless simulations.
Modified Paths:
--------------
pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple-fake_localization.xml
pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple.xml
pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg-fake_localization.xml
pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg.xml
pkg/trunk/demos/2dnav_gazebo/2dnav-params.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/CMakeLists.txt
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot.world
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_arm_test.world
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_dual_link.world
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_floorobj.world
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_multi_link.world
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_obs.world
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_obstacle.world
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_pr2d2.world
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_prototype1.world
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_single_link.world
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_tablegrasp.world
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test_coord.world
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg.world
pkg/trunk/robot_descriptions/wg_robot_description/dual_link_test/gazebo/controllers_gazebo_dual_link.xml
pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/gazebo/controllers_gazebo_multi_link.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2/gazebo/controllers_gazebo.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/gazebo/controllers_gazebo_arm.xml
pkg/trunk/robot_descriptions/wg_robot_description/single_link_test/gazebo/controllers_gazebo_single_link.xml
Removed Paths:
-------------
pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-headless-fake_localization.xml
pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-headless.xml
pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple-headless-fake_localization.xml
pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple-headless.xml
pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg-headless-fake_localization.xml
pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg-headless.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/controllers_gazebo_headless.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_gazebo_actuators_headless.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_arm_test_headless.world
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_headless.world
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_prototype1_headless.world
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg_headless.world
pkg/trunk/robot_descriptions/wg_robot_description/pr2/gazebo/controllers_gazebo_headless.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2/gazebo/pr2_gazebo_actuators_headless.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/gazebo/controllers_gazebo_arm_headless.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/gazebo/pr2_arm_gazebo_actuators_headless.xml
pkg/trunk/robot_descriptions/wg_robot_description/send_arm_test_headless.xml
Deleted: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-headless-fake_localization.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-headless-fake_localization.xml 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-headless-fake_localization.xml 2008-11-07 20:37:09 UTC (rev 6395)
@@ -1,19 +0,0 @@
-<launch>
- <master auto="start"/>
- <group name="wg">
- <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_headless.launch"/>
- <include file="$(find 2dnav_gazebo)/2dnav-params.xml"/>
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/willowMap.png 0.1" respawn="false" output="screen" />
- <node pkg="fake_localization" type="fake_localization" respawn="false" output="screen" />
- <node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
- <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
-
- <!-- for visualization -->
- <!--node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" /-->
-
- <!-- for manual control -->
- <!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
- <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
- </group>
-</launch>
-
Deleted: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-headless.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-headless.xml 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-headless.xml 2008-11-07 20:37:09 UTC (rev 6395)
@@ -1,19 +0,0 @@
-<launch>
- <master auto="start"/>
- <group name="wg">
- <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_headless.launch"/>
- <include file="$(find 2dnav_gazebo)/2dnav-params.xml"/>
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/willowMap.png 0.1" respawn="false" output="screen" />
- <node pkg="amcl_player" type="amcl_player" args="scan:=base_scan" respawn="false" />
- <node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
- <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
-
- <!-- for visualization -->
- <!--node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" /-->
-
- <!-- for manual control -->
- <!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
- <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
- </group>
-</launch>
-
Modified: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple-fake_localization.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple-fake_localization.xml 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple-fake_localization.xml 2008-11-07 20:37:09 UTC (rev 6395)
@@ -7,7 +7,13 @@
<node pkg="fake_localization" type="fake_localization" respawn="false" output="screen" />
<node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
<node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
+
+ <!-- for visualization -->
+ <!--node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" /-->
+
+ <!-- for manual control -->
<!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
+ <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
</group>
</launch>
Deleted: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple-headless-fake_localization.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple-headless-fake_localization.xml 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple-headless-fake_localization.xml 2008-11-07 20:37:09 UTC (rev 6395)
@@ -1,19 +0,0 @@
-<launch>
- <master auto="start"/>
- <group name="wg">
- <include file="$(find pr2_gazebo)/pr2_headless.launch"/>
- <include file="$(find 2dnav_gazebo)/2dnav-params.xml"/>
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/map3.png 0.1" respawn="false" output="screen" />
- <node pkg="fake_localization" type="fake_localization" respawn="false" output="screen" />
- <node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
- <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
-
- <!-- for visualization -->
- <!--node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" /-->
-
- <!-- for manual control -->
- <!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
- <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
- </group>
-</launch>
-
Deleted: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple-headless.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple-headless.xml 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple-headless.xml 2008-11-07 20:37:09 UTC (rev 6395)
@@ -1,19 +0,0 @@
-<launch>
- <master auto="start"/>
- <group name="wg">
- <include file="$(find pr2_gazebo)/pr2_headless.launch"/>
- <include file="$(find 2dnav_gazebo)/2dnav-params.xml"/>
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/map3.png 0.1" respawn="false" output="screen" />
- <node pkg="amcl_player" type="amcl_player" args="scan:=base_scan" respawn="false" output="screen" />
- <node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
- <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
-
- <!-- for visualization -->
- <node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" />
-
- <!-- for manual control -->
- <!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
- <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
- </group>
-</launch>
-
Modified: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple.xml 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple.xml 2008-11-07 20:37:09 UTC (rev 6395)
@@ -1,24 +1,19 @@
<launch>
<master auto="start"/>
<group name="wg">
- <!-- this is another script that starts up a simple world with PR2 in it -->
<include file="$(find pr2_gazebo)/pr2.launch"/>
<include file="$(find 2dnav_gazebo)/2dnav-params.xml"/>
<node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/map3.png 0.1" respawn="false" output="screen" />
<node pkg="amcl_player" type="amcl_player" args="scan:=base_scan" respawn="false" output="screen" />
<node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
<node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
- <!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
- </group>
- <!-- Test for publication of 'tilt_scan' topic. -->
- <test test-name="hztest_test_amcl1" pkg="rostest" type="hztest" name="amcl_test">
- <param name="topic" value="localizedpose" />
- <param name="hz" value="5.0" />
- <param name="hzerror" value="3.0" />
- <param name="test_duration" value="5.0" />
- <param name="check_intervals" value="false" />
- </test>
+ <!-- for visualization -->
+ <node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" />
+ <!-- for manual control -->
+ <!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
+ <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
+ </group>
</launch>
Modified: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg-fake_localization.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg-fake_localization.xml 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg-fake_localization.xml 2008-11-07 20:37:09 UTC (rev 6395)
@@ -9,7 +9,7 @@
<node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
<!-- for visualization -->
- <!--node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" /-->
+ <!-- node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" /-->
<!-- for manual control -->
<!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
Deleted: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg-headless-fake_localization.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg-headless-fake_localization.xml 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg-headless-fake_localization.xml 2008-11-07 20:37:09 UTC (rev 6395)
@@ -1,19 +0,0 @@
-<launch>
- <master auto="start"/>
- <group name="wg">
- <include file="$(find pr2_gazebo)/pr2_wg_headless.launch"/>
- <include file="$(find 2dnav_gazebo)/2dnav-params.xml"/>
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/willowMap.png 0.1" respawn="false" output="screen" />
- <node pkg="fake_localization" type="fake_localization" respawn="false" output="screen" />
- <node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
- <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
-
- <!-- for visualization -->
- <!-- node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" /-->
-
- <!-- for manual control -->
- <!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
- <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
- </group>
-</launch>
-
Deleted: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg-headless.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg-headless.xml 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg-headless.xml 2008-11-07 20:37:09 UTC (rev 6395)
@@ -1,19 +0,0 @@
-<launch>
- <master auto="start"/>
- <group name="wg">
- <include file="$(find pr2_gazebo)/pr2_wg_headless.launch"/>
- <include file="$(find 2dnav_gazebo)/2dnav-params.xml"/>
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/willowMap.png 0.1" respawn="false" output="screen" />
- <node pkg="amcl_player" type="amcl_player" args="scan:=base_scan" respawn="false" />
- <node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
- <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
-
- <!-- for visualization -->
- <node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" />
-
- <!-- for manual control -->
- <!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
- <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
- </group>
-</launch>
-
Modified: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg.xml 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg.xml 2008-11-07 20:37:09 UTC (rev 6395)
@@ -3,11 +3,17 @@
<group name="wg">
<include file="$(find pr2_gazebo)/pr2_wg.launch"/>
<include file="$(find 2dnav_gazebo)/2dnav-params.xml"/>
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/willowMap.png 0.1" respawn="false" />
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/willowMap.png 0.1" respawn="false" output="screen" />
<node pkg="amcl_player" type="amcl_player" args="scan:=base_scan" respawn="false" />
- <node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" />
- <node pkg="nav_view" type="nav_view" respawn="false" />
- <!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" /-->
+ <node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
+ <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
+
+ <!-- for visualization -->
+ <node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" />
+
+ <!-- for manual control -->
+ <!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
+ <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
</group>
</launch>
Modified: pkg/trunk/demos/2dnav_gazebo/2dnav-params.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-params.xml 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-params.xml 2008-11-07 20:37:09 UTC (rev 6395)
@@ -6,7 +6,7 @@
<param name="robot_x_start" value="0" />
<param name="robot_y_start" value="0" />
<param name="robot_th_start" value="0" />
- <param name="robot_radius" value="0.325" />
+ <param name="robot_radius" value="0.3" />
<param name="dist_penalty" value="2.0" />
<param name="pf_laser_max_beams" value="20"/>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/CMakeLists.txt
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/CMakeLists.txt 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/CMakeLists.txt 2008-11-07 20:37:09 UTC (rev 6395)
@@ -18,11 +18,6 @@
DEPENDS urdf2gazebo
COMMENT "Building Gazebo model for PR2 Standard Model")
-add_custom_target(pr2_gazebo_model_headless ALL
- COMMAND ${urdf2gazebo_exe} ${wg_robot_description_PACKAGE_PATH}/pr2/gazebo/pr2_gazebo_actuators_headless.xml ${gazebo_robot_description_PACKAGE_PATH}/world/pr2_xml_headless.model
- DEPENDS urdf2gazebo
- COMMENT "Building Gazebo model for PR2 Gazebo Actuators")
-
add_custom_target(pr2_gazebo_model_nolimit ALL
COMMAND ${urdf2gazebo_exe} ${wg_robot_description_PACKAGE_PATH}/pr2/gazebo/pr2_gazebo_actuators.xml ${gazebo_robot_description_PACKAGE_PATH}/world/pr2_xml_nolimit.model 1
DEPENDS urdf2gazebo
@@ -40,11 +35,6 @@
DEPENDS urdf2gazebo
COMMENT "Building Gazebo model for PR2 Arm Test")
-add_custom_target(pr2_gazebo_model_arm_headless ALL
- COMMAND ${urdf2gazebo_exe} ${wg_robot_description_PACKAGE_PATH}/pr2_arm_test/gazebo/pr2_arm_gazebo_actuators_headless.xml ${gazebo_robot_description_PACKAGE_PATH}/world/pr2_xml_arm_headless.model
- DEPENDS urdf2gazebo
- COMMENT "Building Gazebo model for PR2 Arm Test Headless")
-
# single_link_test
add_custom_target(pr2_gazebo_model_single_link ALL
COMMAND ${urdf2gazebo_exe} ${wg_robot_description_PACKAGE_PATH}/single_link_test/gazebo/pr2_single_link_gazebo_actuators.xml ${gazebo_robot_description_PACKAGE_PATH}/world/pr2_xml_single_link.model
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/controllers_gazebo_headless.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/controllers_gazebo_headless.xml 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/controllers_gazebo_headless.xml 2008-11-07 20:37:09 UTC (rev 6395)
@@ -1 +0,0 @@
-link ../../wg_robot_description/pr2/gazebo/controllers_gazebo_headless.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_gazebo_actuators_headless.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_gazebo_actuators_headless.xml 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_gazebo_actuators_headless.xml 2008-11-07 20:37:09 UTC (rev 6395)
@@ -1 +0,0 @@
-link ../../wg_robot_description/pr2/gazebo/pr2_gazebo_actuators_headless.xml
\ No newline at end of file
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot.world 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot.world 2008-11-07 20:37:09 UTC (rev 6395)
@@ -24,11 +24,13 @@
<!-- erp is typically .1-.8 -->
<!-- here's the global contact cfm/erp -->
<physics:ode>
- <stepTime>0.01</stepTime>
+ <stepTime>0.001</stepTime>
<gravity>0 0 -9.8</gravity>
- <cfm>0.0000000001</cfm>
+ <cfm>0.000000000001</cfm>
<erp>0.2</erp>
- <quickStep>false</quickStep>
+ <quickStep>true</quickStep>
+ <quickStepIters>3</quickStepIters>
+ <quickStepW>1.3</quickStepW>
</physics:ode>
<geo:origin>
@@ -57,7 +59,7 @@
</sky>
<gazeboPath>media</gazeboPath>
<grid>false</grid>
- <maxUpdateRate>100</maxUpdateRate>
+ <maxUpdateRate>10</maxUpdateRate>
</rendering:ogre>
@@ -319,7 +321,7 @@
<controller:ros_time name="ros_time" plugin="libRos_Time.so">
<alwaysOn>true</alwaysOn>
- <updateRate>100.0</updateRate>
+ <updateRate>1000.0</updateRate>
<interface:audio name="dummy_ros_time_iface_should_not_be_here"/>
</controller:ros_time>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_arm_test.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_arm_test.world 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_arm_test.world 2008-11-07 20:37:09 UTC (rev 6395)
@@ -25,11 +25,13 @@
<!-- erp is typically .1-.8 -->
<!-- here's the global contact cfm/erp -->
<physics:ode>
- <stepTime>0.01</stepTime>
+ <stepTime>0.001</stepTime>
<gravity>0 0 -9.8</gravity>
<cfm>0.0000000001</cfm>
<erp>0.2</erp>
- <quickStep>false</quickStep>
+ <quickStep>true</quickStep>
+ <quickStepIters>3</quickStepIters>
+ <quickStepW>1.3</quickStepW>
</physics:ode>
<!-- Rendering Engine -->
@@ -55,7 +57,7 @@
</sky>
<gazeboPath>media</gazeboPath>
<grid>false</grid>
- <maxUpdateRate>100</maxUpdateRate>
+ <maxUpdateRate>10</maxUpdateRate>
</rendering:ogre>
<!-- White Directional light -->
@@ -68,7 +70,7 @@
<attenuation>1 0.0 1.0 0.4</attenuation>
</light>
</model:renderable>
-
+
<!-- Ground plane -->
<model:physical name="gplane">
@@ -158,7 +160,7 @@
<!-- Broadcat time over ROS -->
<controller:ros_time name="ros_time" plugin="libRos_Time.so">
<alwaysOn>true</alwaysOn>
- <updateRate>100.0</updateRate>
+ <updateRate>1000.0</updateRate>
<interface:audio name="dummy_ros_time_iface_should_not_be_here"/>
</controller:ros_time>
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_arm_test_headless.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_arm_test_headless.world 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_arm_test_headless.world 2008-11-07 20:37:09 UTC (rev 6395)
@@ -1,181 +0,0 @@
-<?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>
-
- <!-- Physics Engine: ODE parameters -->
- <!-- cfm is 1e-5 for single precision -->
- <!-- erp is typically .1-.8 -->
- <!-- here's the global contact cfm/erp -->
- <physics:ode>
- <stepTime>0.001</stepTime>
- <gravity>0 0 -9.8</gravity>
- <cfm>0.0000000001</cfm>
- <erp>0.2</erp>
- <quickStep>true</quickStep>
- <quickStepIters>3</quickStepIters>
- <quickStepW>1.3</quickStepW>
- </physics:ode>
-
- <!-- Rendering Engine -->
- <rendering:gui>
- <type>fltk</type>
- <size>1024 800</size>
- <pos>0 0</pos>
- <frames>
- <row height="100%">
- <camera width="100%">
- <xyz> .25 1.5 2.5</xyz>
- <rpy> 0 50 -90</rpy>
- </camera>
- </row>
- </frames>
- </rendering:gui>
-
- <!-- GUI Camera -->
- <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>
-
- <!-- 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>
-
-
- <!-- Ground plane -->
- <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>
- <material>Gazebo/White</material>
- </geom:plane>
- </body:plane>
- </model:physical>
-
- <!-- Object1: The small cylinder "cup" -->
- <model:physical name="cylinder1_model">
- <xyz> 0.5 0.2 0.7</xyz>
- <rpy> 0.0 0.0 0.0</rpy>
- <static>true</static>
- <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>
-
- <!-- Object2: The small box "cup" -->
- <model:physical name="object1_model">
- <xyz> 0.835 -0.55 0.5</xyz>
- <rpy> 0.0 0.0 30.0</rpy>
- <static>true</static>
- <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">
- <alwaysOn>true</alwaysOn>
- <updateRate>100.0</updateRate>
- <bodyName>object1_body</bodyName>
- <topicName>object1_ground_truty</topicName>
- <frameName>map</frameName>
- <interface:position name="p3d_object_position"/>
- </controller:P3D>
- </model:physical>
-
-
-
- <!-- Robot Arm -->
- <model:physical name="robot_model1">
-
- <!-- Broadcat time over ROS -->
- <controller:ros_time name="ros_time" plugin="libRos_Time.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <interface:audio name="dummy_ros_time_iface_should_not_be_here"/>
- </controller:ros_time>
-
- <!-- location of robot in the world -->
- <xyz>0.0 0.0 0.0408</xyz>
- <rpy>0.0 0.0 0.0</rpy>
-
- <!-- base and arm -->
- <include embedded="true">
- <xi:include href="pr2_xml_arm_headless.model" />
- </include>
-
- </model:physical>
-
-
-
-
-</gazebo:world>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_dual_link.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_dual_link.world 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_dual_link.world 2008-11-07 20:37:09 UTC (rev 6395)
@@ -55,7 +55,7 @@
</sky>
<gazeboPath>media</gazeboPath>
<grid>false</grid>
- <maxUpdateRate>100</maxUpdateRate>
+ <maxUpdateRate>10.</maxUpdateRate>
</rendering:ogre>
<!-- White Directional light -->
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_floorobj.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_floorobj.world 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_floorobj.world 2008-11-07 20:37:09 UTC (rev 6395)
@@ -48,7 +48,7 @@
</sky>
<gazeboPath>media</gazeboPath>
<grid>false</grid>
- <maxUpdateRate>100</maxUpdateRate>
+ <maxUpdateRate>10.</maxUpdateRate>
</rendering:ogre>
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_headless.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_headless.world 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_headless.world 2008-11-07 20:37:09 UTC (rev 6395)
@@ -1,351 +0,0 @@
-<?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>0.001</stepTime>
- <gravity>0 0 -9.8</gravity>
- <cfm>0.000000000001</cfm>
- <erp>0.2</erp>
- <quickStep>true</quickStep>
- <quickStepIters>3</quickStepIters>
- <quickStepW>1.3</quickStepW>
- </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>1000.0</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_headless.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>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_multi_link.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_multi_link.world 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_multi_link.world 2008-11-07 20:37:09 UTC (rev 6395)
@@ -55,7 +55,7 @@
</sky>
<gazeboPath>media</gazeboPath>
<grid>false</grid>
- <maxUpdateRate>100</maxUpdateRate>
+ <maxUpdateRate>10.</maxUpdateRate>
</rendering:ogre>
<!-- White Directional light -->
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_obs.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_obs.world 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_obs.world 2008-11-07 20:37:09 UTC (rev 6395)
@@ -48,7 +48,7 @@
</sky>
<gazeboPath>media</gazeboPath>
<grid>false</grid>
- <maxUpdateRate>100</maxUpdateRate>
+ <maxUpdateRate>10.</maxUpdateRate>
</rendering:ogre>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_obstacle.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_obstacle.world 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_obstacle.world 2008-11-07 20:37:09 UTC (rev 6395)
@@ -56,7 +56,7 @@
</sky>
<gazeboPath>media</gazeboPath>
<grid>false</grid>
- <maxUpdateRate>100</maxUpdateRate>
+ <maxUpdateRate>10.</maxUpdateRate>
</rendering:ogre>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_pr2d2.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_pr2d2.world 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_pr2d2.world 2008-11-07 20:37:09 UTC (rev 6395)
@@ -49,7 +49,7 @@
</sky>
<gazeboPath>media</gazeboPath>
<grid>false</grid>
- <maxUpdateRate>100</maxUpdateRate>
+ <maxUpdateRate>10.</maxUpdateRate>
</rendering:ogre>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_prototype1.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_prototype1.world 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_prototype1.world 2008-11-07 20:37:09 UTC (rev 6395)
@@ -24,11 +24,13 @@
<!-- erp is typically .1-.8 -->
<!-- here's the global contact cfm/erp -->
<physics:ode>
- <stepTime>0.01</stepTime>
+ <stepTime>0.001</stepTime>
<gravity>0 0 -9.8</gravity>
<cfm>0.0000000001</cfm>
<erp>0.2</erp>
- <quickStep>false</quickStep>
+ <quickStep>true</quickStep>
+ <quickStepIters>2</quickStepIters>
+ <quickStepW>1.3</quickStepW>
</physics:ode>
<geo:origin>
@@ -49,7 +51,7 @@
</sky>
<gazeboPath>media</gazeboPath>
<grid>false</grid>
- <maxUpdateRate>100</maxUpdateRate>
+ <maxUpdateRate>10.</maxUpdateRate>
</rendering:ogre>
<model:physical name="gplane">
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_prototype1_headless.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_prototype1_headless.world 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_prototype1_headless.world 2008-11-07 20:37:09 UTC (rev 6395)
@@ -1,131 +0,0 @@
-<?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>0.004</stepTime>
- <gravity>0 0 -9.8</gravity>
- <cfm>0.0000000001</cfm>
- <erp>0.2</erp>
- <quickStep>true</quickStep>
- <quickStepIters>3</quickStepIters>
- <quickStepW>1.3</quickStepW>
- </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>
- </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>
- <material>Gazebo/White</material>
- </geom:plane>
- </body:plane>
- </model:physical>
-
-<!--
- <model:physical name="walls">
- <include embedded="false">
- <xi:include href="tests/willow-walls.model" />
- </include>
- </model:physical>
--->
- <model:physical name="willow_map">
- <xyz>-25.65 25.65 1.0</xyz>
- <rpy>180 0 0</rpy>
- <static>true</static>
- <body:map name="willow_map_body">
- <geom:map name="willow_map_geom">
- <image>willowMap.png</image>
- <threshold>200</threshold>
- <granularity>1</granularity>
- <negative>false</negative>
- <scale>0.1</scale>
- <offset>0 0 0</offset>
- <material>Gazebo/Rocky</material>
- </geom:map>
- </body:map>
- </model:physical>
-
-
- <model:physical name="robot_model1">
-
- <controller:ros_time name="ros_time" plugin="libRos_Time.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</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>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_single_link.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_single_link.world 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_single_link.world 2008-11-07 20:37:09 UTC (rev 6395)
@@ -69,7 +69,7 @@
</sky>
<gazeboPath>media</gazeboPath>
<grid>false</grid>
- <maxUpdateRate>100</maxUpdateRate>
+ <maxUpdateRate>10.</maxUpdateRate>
</rendering:ogre>
<!-- White Directional light -->
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_tablegrasp.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_tablegrasp.world 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_tablegrasp.world 2008-11-07 20:37:09 UTC (rev 6395)
@@ -49,7 +49,7 @@
<gazeboPath>media</gazeboPath>
<shadowTechnique>none</shadowTechnique>
<grid>false</grid>
- <maxUpdateRate>100</maxUpdateRate>
+ <maxUpdateRate>10.</maxUpdateRate>
</rendering:ogre>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test_coord.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test_coord.world 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test_coord.world 2008-11-07 20:37:09 UTC (rev 6395)
@@ -48,7 +48,7 @@
</sky>
<gazeboPath>media</gazeboPath>
<grid>off</grid>
- <maxUpdateRate>100</maxUpdateRate>
+ <maxUpdateRate>10.</maxUpdateRate>
</rendering:ogre>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg.world 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg.world 2008-11-07 20:37:09 UTC (rev 6395)
@@ -24,11 +24,13 @@
<!-- erp is typically .1-.8 -->
<!-- here's the global contact cfm/erp -->
<physics:ode>
- <stepTime>0.01</stepTime>
+ <stepTime>0.001</stepTime>
<gravity>0 0 -9.8</gravity>
<cfm>0.0000000001</cfm>
<erp>0.2</erp>
- <quickStep>false</quickStep>
+ <quickStep>true</quickStep>
+ <quickStepIters>3</quickStepIters>
+ <quickStepW>1.3</quickStepW>
</physics:ode>
<geo:origin>
@@ -49,7 +51,7 @@
</sky>
<gazeboPath>media</gazeboPath>
<grid>false</grid>
- <maxUpdateRate>100</maxUpdateRate>
+ <maxUpdateRate>10./maxUpdateRate>
</rendering:ogre>
<model:physical name="gplane">
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg_headless.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg_headless.world 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg_headless.world 2008-11-07 20:37:09 UTC (rev 6395)
@@ -1,131 +0,0 @@
-<?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>0.001</stepTime>
- <gravity>0 0 -9.8</gravity>
- <cfm>0.0000000001</cfm>
- <erp>0.2</erp>
- <quickStep>true</quickStep>
- <quickStepIters>3</quickStepIters>
- <quickStepW>1.3</quickStepW>
- </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>
- </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>
- <material>Gazebo/White</material>
- </geom:plane>
- </body:plane>
- </model:physical>
-
-<!--
- <model:physical name="walls">
- <include embedded="false">
- <xi:include href="tests/willow-walls.model" />
- </include>
- </model:physical>
--->
- <model:physical name="willow_map">
- <xyz>-25.65 25.65 1.0</xyz>
- <rpy>180 0 0</rpy>
- <static>true</static>
- <body:map name="willow_map_body">
- <geom:map name="willow_map_geom">
- <image>willowMap.png</image>
- <threshold>200</threshold>
- <granularity>1</granularity>
- <negative>false</negative>
- <scale>0.1</scale>
- <offset>0 0 0</offset>
- <material>Gazebo/Rocky</material>
- </geom:map>
- </body:map>
- </model:physical>
-
-
- <model:physical name="robot_model1">
-
- <controller:ros_time name="ros_time" plugin="libRos_Time.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</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_headless.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>
Modified: pkg/trunk/robot_descriptions/wg_robot_description/dual_link_test/gazebo/controllers_gazebo_dual_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/dual_link_test/gazebo/controllers_gazebo_dual_link.xml 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/robot_descriptions/wg_robot_description/dual_link_test/gazebo/controllers_gazebo_dual_link.xml 2008-11-07 20:37:09 UTC (rev 6395)
@@ -12,8 +12,6 @@
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
- <robot filename="pr2_dual_link.xml" />
-
<interface:audio name="gazebo_mechanism_control_dummy_iface" />
</controller:gazebo_mechanism_control>
Modified: pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/gazebo/controllers_gazebo_multi_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/gazebo/controllers_gazebo_multi_link.xml 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/gazebo/controllers_gazebo_multi_link.xml 2008-11-07 20:37:09 UTC (rev 6395)
@@ -12,8 +12,6 @@
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
- <robot filename="pr2_multi_link.xml" />
-
<interface:audio name="gazebo_mechanism_control_dummy_iface" />
</controller:gazebo_mechanism_control>
Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2/gazebo/controllers_gazebo.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2/gazebo/controllers_gazebo.xml 2008-11-07 20:35:19 UTC (rev 6394)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/gazebo/controllers_gazebo.xml 2008-11-07 20:37:09 UTC (rev 6395)
@@ -10,10 +10,8 @@
<!-- PR2_ACTARRAY -->
<controller:gazebo_mechanism_control name="gazebo_mechanism_control" plugin="libgazebo_mechanism_control.so">
<alwaysOn>true</alwaysOn>
- <updateRate>100.0</updateRate>
+ <updateRate>1000.0</updateRate>
- <robot filename="pr2.xml" /> <!-- gazebo_mechanism_control use this file to extract mechanism model -->
-
<interface:audio name="gazebo_mechanism_control_dummy_iface" />
</controller:gazebo_mechanism_control>
@@ -62,7 +60,7 @@
<!-- P3D for posit...
[truncated message content] |
