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[Personalrobots-commit] SF.net SVN: personalrobots:[6719] pkg/trunk
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From: <hsu...@us...> - 2008-11-14 02:20:25
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Revision: 6719
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=6719&view=rev
Author: hsujohnhsu
Date: 2008-11-14 02:20:20 +0000 (Fri, 14 Nov 2008)
Log Message:
-----------
* updates to new pr2.xml format with xacro.
* updates to new nameing convention:
* shoulder_pitch_left -> left_shoulder_pitch
* shoulder_pan_left -> left_shoulder_pan
* upperarm_roll_left -> left_upper_arm_roll
* elbow_flex_left -> left_elbow_flex
* forearm_roll_left -> left_forearm_roll
* wrist_flex_left -> left_wrist_flex
* gripper_roll_left -> left_wrist_roll
* added left_gripper_palm rigidly attached to left_wrist_roll
* finger_l_left -> left_gipper_l_finger
* finger_tip_l_left -> left_gipper_l_finger_tip
* ... similarly for right side.
* updates to demos accordingly.
* build gazebo .model files at maketime of wg_robot_description.
* rename single_link, dual_link and multi_link models so they do not have pr2_prefix.
Modified Paths:
--------------
pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-fake_localization.xml
pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg.xml
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/demos/2dnav_gazebo/manifest.xml
pkg/trunk/demos/arm_gazebo/arm.launch
pkg/trunk/demos/examples_gazebo/dual_link.xml
pkg/trunk/demos/examples_gazebo/multi_link.xml
pkg/trunk/demos/examples_gazebo/single_link.xml
pkg/trunk/demos/pr2_gazebo/pr2.launch
pkg/trunk/demos/pr2_gazebo/pr2_floorobj.launch
pkg/trunk/demos/pr2_gazebo/pr2_obs.launch
pkg/trunk/demos/pr2_gazebo/pr2_wg.launch
pkg/trunk/manip/teleop_arm_keyboard/teleop_arm_keyboard.cc
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_obstacle.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_wg.world
pkg/trunk/robot_descriptions/wg_robot_description/pr2/Makefile
pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2/groups.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2/groups_collision.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2/send_description.launch
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/controllers_arm.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/groups_arm.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_arm.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/Makefile
pkg/trunk/visualization/ogre_visualizer/scripts/standalone_visualizer.py
Added Paths:
-----------
pkg/trunk/robot_descriptions/wg_robot_description/dual_link_test/Makefile
pkg/trunk/robot_descriptions/wg_robot_description/dual_link_test/dual_link.xml
pkg/trunk/robot_descriptions/wg_robot_description/dual_link_test/send_description.launch
pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/Makefile
pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/multi_link.xml
pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/send_description.launch
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/Makefile
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/send_description.launch
pkg/trunk/robot_descriptions/wg_robot_description/single_link_test/Makefile
pkg/trunk/robot_descriptions/wg_robot_description/single_link_test/send_description.launch
pkg/trunk/robot_descriptions/wg_robot_description/single_link_test/single_link.xml
Removed Paths:
-------------
pkg/trunk/robot_descriptions/wg_robot_description/dual_link_test/pr2_dual_link.xml
pkg/trunk/robot_descriptions/wg_robot_description/dual_link_test/send_description.xml
pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/pr2_multi_link.xml
pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/send_description.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2/controllers_new.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2_new.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/send_description.xml
pkg/trunk/robot_descriptions/wg_robot_description/single_link_test/pr2_single_link.xml
pkg/trunk/robot_descriptions/wg_robot_description/single_link_test/send_description.xml
Modified: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-fake_localization.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-fake_localization.xml 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-fake_localization.xml 2008-11-14 02:20:20 UTC (rev 6719)
@@ -3,10 +3,13 @@
<group name="wg">
<include file="$(find pr2_prototype1_gazebo)/pr2_prototype1.launch"/>
<include file="$(find 2dnav_gazebo)/2dnav-params.xml"/>
+
<node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/willowMap.png 0.1" respawn="false" output="screen" />
<node pkg="fake_localization" type="fake_localization" respawn="false" output="screen" />
<node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
<node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
+ <node pkg="world_3d_map" type="world_3d_map" args="/robotdesc/pr2 scan:=tilt_scan cloud:=full_cloud" respawn="false" />
+ <node pkg="highlevel_controllers" type="move_base_sbpl" args="cloud:=world_3d_map" respawn="false"/>
<!-- for visualization -->
<!--node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" /-->
Modified: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg.xml 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg.xml 2008-11-14 02:20:20 UTC (rev 6719)
@@ -3,10 +3,13 @@
<group name="wg">
<include file="$(find pr2_prototype1_gazebo)/pr2_prototype1.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" />
+ <node pkg="world_3d_map" type="world_3d_map" args="/robotdesc/pr2 scan:=tilt_scan cloud:=full_cloud" respawn="false" />
+ <node pkg="highlevel_controllers" type="move_base_sbpl" args="cloud:=world_3d_map" respawn="false"/>
<!-- for visualization -->
<!--node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" /-->
Modified: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple-fake_localization.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple-fake_localization.xml 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple-fake_localization.xml 2008-11-14 02:20:20 UTC (rev 6719)
@@ -3,10 +3,13 @@
<group name="wg">
<include file="$(find pr2_gazebo)/pr2.launch"/>
<include file="$(find 2dnav_gazebo)/2dnav-params.xml"/>
+
<node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/map3.png 0.1" respawn="false" output="screen" />
<node pkg="fake_localization" type="fake_localization" respawn="false" output="screen" />
<node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
<node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
+ <node pkg="world_3d_map" type="world_3d_map" args="/robotdesc/pr2 scan:=tilt_scan cloud:=full_cloud" respawn="false" />
+ <node pkg="highlevel_controllers" type="move_base_sbpl" args="cloud:=world_3d_map" respawn="false"/>
<!-- for visualization -->
<!--node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" /-->
Modified: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple.xml 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple.xml 2008-11-14 02:20:20 UTC (rev 6719)
@@ -3,13 +3,16 @@
<group name="wg">
<include file="$(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="world_3d_map" type="world_3d_map" args="/robotdesc/pr2 scan:=tilt_scan cloud:=full_cloud" respawn="false" />
+ <node pkg="highlevel_controllers" type="move_base_sbpl" args="cloud:=world_3d_map" respawn="false"/>
<!-- 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" /-->
Modified: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg-fake_localization.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg-fake_localization.xml 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg-fake_localization.xml 2008-11-14 02:20:20 UTC (rev 6719)
@@ -3,10 +3,13 @@
<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="$(find gazebo_robot_description)/world/Media/materials/textures/willowMap.png 0.1" respawn="false" output="screen" />
<node pkg="fake_localization" type="fake_localization" respawn="false" output="screen" />
<node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
<node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
+ <node pkg="world_3d_map" type="world_3d_map" args="/robotdesc/pr2 scan:=tilt_scan cloud:=full_cloud" respawn="false" />
+ <node pkg="highlevel_controllers" type="move_base_sbpl" args="cloud:=world_3d_map" respawn="false"/>
<!-- for visualization -->
<!-- node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" /-->
Modified: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg.xml 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg.xml 2008-11-14 02:20:20 UTC (rev 6719)
@@ -3,10 +3,13 @@
<group name="wg">
<include file="$(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" 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" />
+ <node pkg="world_3d_map" type="world_3d_map" args="/robotdesc/pr2 scan:=tilt_scan cloud:=full_cloud" respawn="false" />
+ <node pkg="highlevel_controllers" type="move_base_sbpl" args="cloud:=world_3d_map" respawn="false"/>
<!-- for visualization -->
<node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" />
Modified: pkg/trunk/demos/2dnav_gazebo/2dnav-params.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-params.xml 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-params.xml 2008-11-14 02:20:20 UTC (rev 6719)
@@ -18,5 +18,16 @@
<param name="pf_odom_drift_xa" value="0.2"/>
<param name="pf_min_d" value="0.25"/>
<param name="pf_min_a" value="0.524"/>
+
+ <param name="world_3d_map/max_publish_frequency" type="double" value="20" /> <!-- Hz -->
+ <param name="world_3d_map/base_laser_range" type="double" value="10.0" /> <!-- Meters -->
+ <param name="world_3d_map/tilt_laser_range" type="double" value="4.0" /> <!-- Meters -->
+ <param name="world_3d_map/retain_pointcloud_fraction" type="double" value="0.25" /> <!-- percentage (between 0 and 1) -->
+ <param name="world_3d_map/retain_above_ground_threshold" type="double" value="0.03" /> <!-- double value -->
+ <param name="world_3d_map/verbosity_level" type="int" value="1" /> <!-- integer value -->
+ <param name="world_3d_map/laser_x_offset" type="double" value=".275" />
+
+ <param name="costmap_2d/dynamic_obstacle_window" type="double" value="5.0"/>
+ <param name="move_base_sbpl/controller_frequency" value="20.0" />
</launch>
Modified: pkg/trunk/demos/2dnav_gazebo/manifest.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/manifest.xml 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/demos/2dnav_gazebo/manifest.xml 2008-11-14 02:20:20 UTC (rev 6719)
@@ -15,5 +15,7 @@
<depend package="teleop_arm_keyboard"/>
<depend package="laser_view"/>
<depend package="pr2_gui"/>
+ <depend package="world_3d_map"/>
+ <depend package="highlevel_controllers"/>
<depend package="executive_trex_pr2"/>
</package>
Modified: pkg/trunk/demos/arm_gazebo/arm.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/arm.launch 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/demos/arm_gazebo/arm.launch 2008-11-14 02:20:20 UTC (rev 6719)
@@ -1,9 +1,9 @@
<launch>
<group name="wg">
<!-- create model file for gazebo -->
- <node pkg="gazebo_robot_description" type="urdf2gazebo" args="$(find wg_robot_description)/pr2_arm_test/pr2_arm.xml $(find gazebo_robot_description)/world/pr2_xml_arm.model" />
+ <node pkg="gazebo_robot_description" type="urdf2gazebo" args="$(find wg_robot_description)/pr2_arm_test/pr2_arm.xml.expanded $(find gazebo_robot_description)/world/pr2_arm.model" />
<!-- send pr2_arm.xml to param server -->
- <param name="robotdesc/pr2" command="$(find wg_robot_description_parser)/merge "$(find wg_robot_description)/pr2_arm_test/pr2_arm.xml"" />
+ <include file="$(find wg_robot_description)/pr2_arm_test/send_description.launch" />
<!-- -g flag runs gazebo in gui-less mode -->
<node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/world/robot_arm_test.world" respawn="false" output="screen">
<env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$LD_LIBRARY_PATH" />
@@ -13,8 +13,8 @@
</node>
<node pkg="mechanism_control" type="mech.py" args="sp $(find wg_robot_description)/pr2_arm_test/controllers_arm.xml" respawn="false" output="screen" /> <!-- load default arm controller -->
<node pkg="robot_mechanism_controllers" type="control.py" args="set gripper_left_controller 0.5" respawn="false" output="screen" /> <!-- open gripper .5 radians -->
- <!-- for visualization -->
- <node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" />
+ <!-- for visualization, heavy, off by default -->
+ <!--node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" /-->
</group>
</launch>
Modified: pkg/trunk/demos/examples_gazebo/dual_link.xml
===================================================================
--- pkg/trunk/demos/examples_gazebo/dual_link.xml 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/demos/examples_gazebo/dual_link.xml 2008-11-14 02:20:20 UTC (rev 6719)
@@ -1,10 +1,9 @@
<launch>
<group name="wg">
- <!-- create model file for gazebo -->
- <node pkg="gazebo_robot_description" type="urdf2gazebo" args="$(find wg_robot_description)/dual_link_test/pr2_dual_link.xml $(find gazebo_robot_description)/world/pr2_xml_dual_link.model" />
- <!-- send pr2_arm.xml to param server -->
- <!--include file="$(find wg_robot_description)/dual_link_test/send_description.xml" /-->
- <param name="robotdesc/pr2" command="$(find wg_robot_description_parser)/merge "$(find wg_robot_description)/dual_link_test/pr2_dual_link.xml"" />
+ <!-- send dual_link.xml to param server -->
+ <include file="$(find wg_robot_description)/dual_link_test/send_description.launch" />
+
+ <!-- start gazebo -->
<node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/world/robot_dual_link.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="$(find gazebo_robot_description)/world" />
Modified: pkg/trunk/demos/examples_gazebo/multi_link.xml
===================================================================
--- pkg/trunk/demos/examples_gazebo/multi_link.xml 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/demos/examples_gazebo/multi_link.xml 2008-11-14 02:20:20 UTC (rev 6719)
@@ -1,10 +1,9 @@
<launch>
<group name="wg">
- <!-- create model file for gazebo -->
- <node pkg="gazebo_robot_description" type="urdf2gazebo" args="$(find wg_robot_description)/multi_link_test/pr2_multi_link.xml $(find gazebo_robot_description)/world/pr2_xml_multi_link.model" />
- <!-- send pr2_arm.xml to param server -->
- <!--include file="$(find wg_robot_description)/multi_link_test/send_description.xml" /-->
- <param name="robotdesc/pr2" command="$(find wg_robot_description_parser)/merge "$(find wg_robot_description)/multi_link_test/pr2_multi_link.xml"" />
+ <!-- send multi_link.xml to param server -->
+ <include file="$(find wg_robot_description)/multi_link_test/send_description.launch" />
+
+ <!-- start gazebo -->
<node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/world/robot_multi_link.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="$(find gazebo_robot_description)/world" />
Modified: pkg/trunk/demos/examples_gazebo/single_link.xml
===================================================================
--- pkg/trunk/demos/examples_gazebo/single_link.xml 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/demos/examples_gazebo/single_link.xml 2008-11-14 02:20:20 UTC (rev 6719)
@@ -1,10 +1,9 @@
<launch>
<group name="wg">
- <!-- create model file for gazebo -->
- <node pkg="gazebo_robot_description" type="urdf2gazebo" args="$(find wg_robot_description)/single_link_test/pr2_single_link.xml $(find gazebo_robot_description)/world/pr2_xml_single_link.model" />
- <!-- send pr2_arm.xml to param server -->
- <!--include file="$(find wg_robot_description)/single_link_test/send_description.xml" /-->
- <param name="robotdesc/pr2" command="$(find wg_robot_description_parser)/merge "$(find wg_robot_description)/single_link_test/pr2_single_link.xml"" />
+ <!-- send single_link.xml to param server -->
+ <include file="$(find wg_robot_description)/single_link_test/send_description.launch" />
+
+ <!-- start gazebo -->
<node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/world/robot_single_link.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="$(find gazebo_robot_description)/world" />
Modified: pkg/trunk/demos/pr2_gazebo/pr2.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2.launch 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/demos/pr2_gazebo/pr2.launch 2008-11-14 02:20:20 UTC (rev 6719)
@@ -1,16 +1,18 @@
<launch>
<!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/wg_robot_description/pr2 -->
<group name="wg">
- <!-- create model file for gazebo -->
- <node pkg="gazebo_robot_description" type="urdf2gazebo" args="$(find wg_robot_description)/pr2/pr2.xml $(find gazebo_robot_description)/world/pr2_xml.model" />
- <node pkg="gazebo_robot_description" type="urdf2gazebo" args="$(find wg_robot_description)/pr2/pr2.xml $(find gazebo_robot_description)/world/pr2_xml_nolimit.model 1" />
- <param name="robotdesc/pr2" command="$(find wg_robot_description_parser)/merge "$(find wg_robot_description)/pr2/pr2.xml"" />
+ <!-- send pr2.xml to param server -->
+ <include file="$(find wg_robot_description)/pr2/send_description.launch" />
+
+ <!-- start gazebo -->
<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>
+
+ <!-- load controllers -->
<include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
</group>
</launch>
Modified: pkg/trunk/demos/pr2_gazebo/pr2_floorobj.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_floorobj.launch 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/demos/pr2_gazebo/pr2_floorobj.launch 2008-11-14 02:20:20 UTC (rev 6719)
@@ -1,9 +1,8 @@
<launch>
<group name="wg">
<!-- create model file for gazebo -->
- <node pkg="gazebo_robot_description" type="urdf2gazebo" args="$(find wg_robot_description)/pr2/pr2.xml $(find gazebo_robot_description)/world/pr2_xml.model" />
- <node pkg="gazebo_robot_description" type="urdf2gazebo" args="$(find wg_robot_description)/pr2/pr2.xml $(find gazebo_robot_description)/world/pr2_xml_nolimit.model 1" />
- <param name="robotdesc/pr2" command="$(find wg_robot_description_parser)/merge "$(find wg_robot_description)/pr2/pr2.xml"" />
+ <include file="$(find wg_robot_description)/pr2/send_description.launch" />
+
<!-- -g flag runs gazebo in gui-less mode -->
<node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/world/robot_floorobj.world" respawn="false" output="screen">
<env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$LD_LIBRARY_PATH" />
Modified: pkg/trunk/demos/pr2_gazebo/pr2_obs.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_obs.launch 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/demos/pr2_gazebo/pr2_obs.launch 2008-11-14 02:20:20 UTC (rev 6719)
@@ -1,14 +1,17 @@
<launch>
<group name="wg">
- <node pkg="gazebo_robot_description" type="urdf2gazebo" args="$(find wg_robot_description)/pr2/pr2.xml $(find gazebo_robot_description)/world/pr2_xml.model" />
- <node pkg="gazebo_robot_description" type="urdf2gazebo" args="$(find wg_robot_description)/pr2/pr2.xml $(find gazebo_robot_description)/world/pr2_xml_nolimit.model 1" />
- <param name="robotdesc/pr2" command="$(find wg_robot_description_parser)/merge "$(find wg_robot_description)/pr2/pr2.xml"" />
- <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/world/robot_obstacle.world" respawn="false">
+ <!-- send pr2.xml to param server -->
+ <include file="$(find wg_robot_description)/pr2/send_description.launch" />
+
+ <!-- start gazebo -->
+ <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/world/robot_obstacle.world" respawn="false" output="screen">
<env name="LD_LIBRARY_PATH" value="$(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>
+
+ <!-- load controllers -->
<include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
</group>
</launch>
Modified: pkg/trunk/demos/pr2_gazebo/pr2_wg.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_wg.launch 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/demos/pr2_gazebo/pr2_wg.launch 2008-11-14 02:20:20 UTC (rev 6719)
@@ -1,16 +1,17 @@
<launch>
<group name="wg">
- <!-- create model file for gazebo -->
- <node pkg="gazebo_robot_description" type="urdf2gazebo" args="$(find wg_robot_description)/pr2/pr2.xml $(find gazebo_robot_description)/world/pr2_xml.model" />
- <node pkg="gazebo_robot_description" type="urdf2gazebo" args="$(find wg_robot_description)/pr2/pr2.xml $(find gazebo_robot_description)/world/pr2_xml_nolimit.model 1" />
- <param name="robotdesc/pr2" command="$(find wg_robot_description_parser)/merge "$(find wg_robot_description)/pr2/pr2.xml"" />
- <!-- -g flag runs gazebo in gui-less mode -->
+ <!-- send pr2.xml to param server -->
+ <include file="$(find wg_robot_description)/pr2/send_description.launch" />
+
+ <!-- start gazebo -->
<node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/world/robot_wg.world" respawn="false" output="screen">
<env name="LD_LIBRARY_PATH" value="$(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>
+
+ <!-- load controllers -->
<include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
</group>
</launch>
Modified: pkg/trunk/manip/teleop_arm_keyboard/teleop_arm_keyboard.cc
===================================================================
--- pkg/trunk/manip/teleop_arm_keyboard/teleop_arm_keyboard.cc 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/manip/teleop_arm_keyboard/teleop_arm_keyboard.cc 2008-11-14 02:20:20 UTC (rev 6719)
@@ -144,13 +144,13 @@
this->lArmCmd.set_margins_size(7);
this->rArmCmd.set_margins_size(7);
- this->lArmCmd.names[0] = "shoulder_pan_left_joint";
- this->lArmCmd.names[1] = "shoulder_pitch_left_joint";
- this->lArmCmd.names[2] = "upperarm_roll_left_joint";
- this->lArmCmd.names[3] = "elbow_flex_left_joint";
- this->lArmCmd.names[4] = "forearm_roll_left_joint";
- this->lArmCmd.names[5] = "wrist_flex_left_joint";
- this->lArmCmd.names[6] = "gripper_roll_left_joint";
+ this->lArmCmd.names[0] = "left_shoulder_pan_joint";
+ this->lArmCmd.names[1] = "left_shoulder_pitch_joint";
+ this->lArmCmd.names[2] = "left_upper_arm_roll_joint";
+ this->lArmCmd.names[3] = "left_elbow_flex_joint";
+ this->lArmCmd.names[4] = "left_forearm_roll_joint";
+ this->lArmCmd.names[5] = "left_wrist_flex_joint";
+ this->lArmCmd.names[6] = "left_wrist_roll_joint";
this->lArmCmd.positions[0] = 0;
this->lArmCmd.positions[1] = 0;
@@ -168,13 +168,13 @@
this->lArmCmd.margins[5] = 0;
this->lArmCmd.margins[6] = 0;
- this->rArmCmd.names[0] = "shoulder_pan_right_joint";
- this->rArmCmd.names[1] = "shoulder_pitch_right_joint";
- this->rArmCmd.names[2] = "upperarm_roll_right_joint";
- this->rArmCmd.names[3] = "elbow_flex_right_joint";
- this->rArmCmd.names[4] = "forearm_roll_right_joint";
- this->rArmCmd.names[5] = "wrist_flex_right_joint";
- this->rArmCmd.names[6] = "gripper_roll_right_joint";
+ this->rArmCmd.names[0] = "right_shoulder_pan_joint";
+ this->rArmCmd.names[1] = "right_shoulder_pitch_joint";
+ this->rArmCmd.names[2] = "right_upper_arm_roll_joint";
+ this->rArmCmd.names[3] = "right_elbow_flex_joint";
+ this->rArmCmd.names[4] = "right_forearm_roll_joint";
+ this->rArmCmd.names[5] = "right_wrist_flex_joint";
+ this->rArmCmd.names[6] = "right_wrist_roll_joint";
this->rArmCmd.positions[0] = 0;
this->rArmCmd.positions[1] = 0;
@@ -239,7 +239,7 @@
aPose.pitch = 0;
aPose.yaw = 0;
aPose.time = 0;
- aPose.frame = "gripper_roll_right";
+ aPose.frame = "right_wrist_roll";
libTF::TFPose inOdomFrame = tf.transformPose("FRAMEID_ODOM", aPose);
@@ -259,7 +259,7 @@
aPose.time = 0;
aPose.frame = "FRAMEID_ODOM";
- libTF::TFPose inOdomFrame = tf.transformPose("gripper_roll_right", aPose);
+ libTF::TFPose inOdomFrame = tf.transformPose("right_wrist_roll", aPose);
std::cout << "In shoulder frame x " << inOdomFrame.x << std::endl;
std::cout << "In shoulder frame y " << inOdomFrame.y << std::endl;
@@ -325,7 +325,7 @@
void TArmK_Node::changeJointAngle(PR2_JOINT_ID jointID, bool increment)
{
float jointCmdStep = 5*M_PI/180;
- float gripperStep = 1*M_PI/180;
+ double gripperStep = 1*M_PI/180;
if (increment == false)
{
jointCmdStep *= -1;
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot.world 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot.world 2008-11-14 02:20:20 UTC (rev 6719)
@@ -31,6 +31,8 @@
<quickStep>true</quickStep>
<quickStepIters>3</quickStepIters>
<quickStepW>1.3</quickStepW>
+ <quickStepIters>3</quickStepIters>
+ <quickStepW>1.3</quickStepW>
</physics:ode>
<geo:origin>
@@ -282,7 +284,7 @@
<!-- base, torso and arms -->
<include embedded="true">
- <xi:include href="pr2_xml.model" />
+ <xi:include href="pr2.model" />
</include>
<!-- PR2_ACTARRAY -->
@@ -307,45 +309,45 @@
</controller:gazebo_battery>
<!-- ptz camera controls -->
- <controller:Ros_PTZ name="ptz_cam_left_controller" plugin="libRos_PTZ.so">
+ <controller:Ros_PTZ name="left_ptz_cam_controller" plugin="libRos_PTZ.so">
<alwaysOn>true</alwaysOn>
<updateRate>15.0</updateRate>
- <panJoint>ptz_pan_left_joint</panJoint>
- <tiltJoint>ptz_tilt_left_joint</tiltJoint>
+ <panJoint>left_ptz_pan_joint</panJoint>
+ <tiltJoint>left_ptz_tilt_joint</tiltJoint>
<commandTopicName>axis_left/ptz_cmd</commandTopicName>
<stateTopicName>axis_left/ptz_state</stateTopicName>
- <interface:ptz name="ptz_left_iface" />
+ <interface:ptz name="left_ptz_cam_iface" />
</controller:Ros_PTZ>
- <controller:Ros_PTZ name="ptz_cam_right_controller" plugin="libRos_PTZ.so">
+ <controller:Ros_PTZ name="right_ptz_cam_controller" plugin="libRos_PTZ.so">
<alwaysOn>true</alwaysOn>
<updateRate>15.0</updateRate>
- <panJoint>ptz_pan_right_joint</panJoint>
- <tiltJoint>ptz_tilt_right_joint</tiltJoint>
+ <panJoint>right_ptz_pan_joint</panJoint>
+ <tiltJoint>right_ptz_tilt_joint</tiltJoint>
<commandTopicName>axis_right/ptz_cmd</commandTopicName>
<stateTopicName>axis_right/ptz_state</stateTopicName>
- <interface:ptz name="ptz_right_iface" />
+ <interface:ptz name="right_ptz_cam_iface" />
</controller:Ros_PTZ>
<!-- P3D for position groundtruth -->
- <controller:P3D name="p3d_right_wrist_controller" plugin="libP3D.so">
+ <controller:P3D name="p3d_right_gripper_palm_controller" plugin="libP3D.so">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
- <bodyName>gripper_roll_right</bodyName>
- <topicName>gripper_roll_right_pose_ground_truth</topicName>
+ <bodyName>right_gripper_palm</bodyName>
+ <topicName>right_gripper_palm_pose_ground_truth</topicName>
<gaussianNoise>0.01</gaussianNoise>
<frameName>map</frameName>
- <interface:position name="p3d_right_wrist_position"/>
+ <interface:position name="p3d_right_gripper_palm_position"/>
</controller:P3D>
- <controller:P3D name="p3d_left_wrist_controller" plugin="libP3D.so">
+ <controller:P3D name="p3d_left_gripper_palm_controller" plugin="libP3D.so">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
- <bodyName>gripper_roll_left</bodyName>
- <topicName>gripper_roll_left_pose_ground_truth</topicName>
+ <bodyName>left_gripper_palm</bodyName>
+ <topicName>left_gripper_palm_pose_ground_truth</topicName>
<gaussianNoise>0.01</gaussianNoise>
<frameName>map</frameName>
- <interface:position name="p3d_left_wrist_position"/>
+ <interface:position name="p3d_left_gripper_palm_position"/>
</controller:P3D>
<controller:P3D name="p3d_base_controller" plugin="libP3D.so">
@@ -360,40 +362,40 @@
<interface:position name="p3d_base_position"/>
</controller:P3D>
- <controller:F3D name="f3d_finger_tip_l_left_controller" plugin="libF3D.so">
+ <controller:F3D name="f3d_left_gripper_l_finger_tip_controller" plugin="libF3D.so">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
- <bodyName>finger_tip_l_left</bodyName>
- <topicName>finger_tip_l_left_ground_truth</topicName>
+ <bodyName>left_gripper_l_finger_tip</bodyName>
+ <topicName>left_gripper_l_finger_tip_ground_truth</topicName>
<frameName>map</frameName>
- <interface:position name="f3d_finger_tip_l_left_position"/>
+ <interface:position name="f3d_left_gripper_l_finger_tip_position"/>
</controller:F3D>
- <controller:F3D name="f3d_finger_tip_r_left_controller" plugin="libF3D.so">
+ <controller:F3D name="f3d_left_gripper_r_finger_tip_controller" plugin="libF3D.so">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
- <bodyName>finger_tip_r_left</bodyName>
- <topicName>finger_tip_r_left_ground_truth</topicName>
+ <bodyName>left_gripper_r_finger_tip</bodyName>
+ <topicName>left_gripper_r_finger_tip_ground_truth</topicName>
<frameName>map</frameName>
- <interface:position name="f3d_finger_tip_r_left_position"/>
+ <interface:position name="f3d_left_gripper_r_finger_tip_position"/>
</controller:F3D>
- <controller:F3D name="f3d_finger_tip_l_right_controller" plugin="libF3D.so">
+ <controller:F3D name="f3d_right_gripper_l_finger_tip_controller" plugin="libF3D.so">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
- <bodyName>finger_tip_l_right</bodyName>
- <topicName>finger_tip_l_right_ground_truth</topicName>
+ <bodyName>right_gripper_l_finger_tip</bodyName>
+ <topicName>right_gripper_l_finger_tip_ground_truth</topicName>
<frameName>map</frameName>
- <interface:position name="f3d_finger_tip_l_right_position"/>
+ <interface:position name="f3d_right_gripper_l_finger_tip_position"/>
</controller:F3D>
- <controller:F3D name="f3d_finger_tip_r_right_controller" plugin="libF3D.so">
+ <controller:F3D name="f3d_right_gripper_r_finger_tip_controller" plugin="libF3D.so">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
- <bodyName>finger_tip_r_right</bodyName>
- <topicName>finger_tip_r_right_ground_truth</topicName>
+ <bodyName>right_gripper_r_finger_tip</bodyName>
+ <topicName>right_gripper_r_finger_tip_ground_truth</topicName>
<frameName>map</frameName>
- <interface:position name="f3d_finger_tip_r_right_position"/>
+ <interface:position name="f3d_right_gripper_r_finger_tip_position"/>
</controller:F3D>
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 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_arm_test.world 2008-11-14 02:20:20 UTC (rev 6719)
@@ -170,7 +170,7 @@
<!-- base and arm -->
<include embedded="true">
- <xi:include href="pr2_xml_arm.model" />
+ <xi:include href="pr2_arm.model" />
</include>
<!-- PR2_ACTARRAY -->
@@ -185,8 +185,8 @@
<controller:P3D name="p3d_left_wrist_controller" plugin="libP3D.so">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
- <bodyName>gripper_roll_left</bodyName>
- <topicName>gripper_roll_left_pose_ground_truth</topicName>
+ <bodyName>left_gripper_palm</bodyName>
+ <topicName>left_gripper_palm_pose_ground_truth</topicName>
<frameName>map</frameName>
<interface:position name="p3d_left_wrist_position"/>
</controller:P3D>
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 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_dual_link.world 2008-11-14 02:20:20 UTC (rev 6719)
@@ -166,7 +166,7 @@
<!-- dual link -->
<include embedded="true">
- <xi:include href="pr2_xml_dual_link.model" />
+ <xi:include href="dual_link.model" />
</include>
<!-- pr2_actarray -->
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_floorobj.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_floorobj.world 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_floorobj.world 2008-11-14 02:20:20 UTC (rev 6719)
@@ -24,10 +24,15 @@
<!-- 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>true</quickStep>
+ <quickStepIters>3</quickStepIters>
+ <quickStepW>1.3</quickStepW>
+ <quickStepIters>3</quickStepIters>
+ <quickStepW>1.3</quickStepW>
</physics:ode>
<geo:origin>
@@ -38,6 +43,14 @@
<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>
@@ -303,7 +316,7 @@
<!-- base, torso and arms -->
<include embedded="true">
- <xi:include href="pr2_xml.model" />
+ <xi:include href="pr2.model" />
</include>
<!-- PR2_ACTARRAY -->
@@ -328,45 +341,45 @@
</controller:gazebo_battery>
<!-- ptz camera controls -->
- <controller:Ros_PTZ name="ptz_cam_left_controller" plugin="libRos_PTZ.so">
+ <controller:Ros_PTZ name="left_ptz_cam_controller" plugin="libRos_PTZ.so">
<alwaysOn>true</alwaysOn>
<updateRate>15.0</updateRate>
- <panJoint>ptz_pan_left_joint</panJoint>
- <tiltJoint>ptz_tilt_left_joint</tiltJoint>
+ <panJoint>left_ptz_pan_joint</panJoint>
+ <tiltJoint>left_ptz_tilt_joint</tiltJoint>
<commandTopicName>axis_left/ptz_cmd</commandTopicName>
<stateTopicName>axis_left/ptz_state</stateTopicName>
- <interface:ptz name="ptz_left_iface" />
+ <interface:ptz name="left_ptz_cam_iface" />
</controller:Ros_PTZ>
- <controller:Ros_PTZ name="ptz_cam_right_controller" plugin="libRos_PTZ.so">
+ <controller:Ros_PTZ name="right_ptz_cam_controller" plugin="libRos_PTZ.so">
<alwaysOn>true</alwaysOn>
<updateRate>15.0</updateRate>
- <panJoint>ptz_pan_right_joint</panJoint>
- <tiltJoint>ptz_tilt_right_joint</tiltJoint>
+ <panJoint>right_ptz_pan_joint</panJoint>
+ <tiltJoint>right_ptz_tilt_joint</tiltJoint>
<commandTopicName>axis_right/ptz_cmd</commandTopicName>
<stateTopicName>axis_right/ptz_state</stateTopicName>
- <interface:ptz name="ptz_right_iface" />
+ <interface:ptz name="right_ptz_cam_iface" />
</controller:Ros_PTZ>
<!-- P3D for position groundtruth -->
- <controller:P3D name="p3d_right_wrist_controller" plugin="libP3D.so">
+ <controller:P3D name="p3d_right_gripper_palm_controller" plugin="libP3D.so">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
- <bodyName>gripper_roll_right</bodyName>
- <topicName>gripper_roll_right_pose_ground_truth</topicName>
+ <bodyName>right_gripper_palm</bodyName>
+ <topicName>right_gripper_palm_pose_ground_truth</topicName>
<gaussianNoise>0.01</gaussianNoise>
<frameName>map</frameName>
- <interface:position name="p3d_right_wrist_position"/>
+ <interface:position name="p3d_right_gripper_palm_position"/>
</controller:P3D>
- <controller:P3D name="p3d_left_wrist_controller" plugin="libP3D.so">
+ <controller:P3D name="p3d_left_gripper_palm_controller" plugin="libP3D.so">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
- <bodyName>gripper_roll_left</bodyName>
- <topicName>gripper_roll_left_pose_ground_truth</topicName>
+ <bodyName>left_gripper_palm</bodyName>
+ <topicName>left_gripper_palm_pose_ground_truth</topicName>
<gaussianNoise>0.01</gaussianNoise>
<frameName>map</frameName>
- <interface:position name="p3d_left_wrist_position"/>
+ <interface:position name="p3d_left_gripper_palm_position"/>
</controller:P3D>
<controller:P3D name="p3d_base_controller" plugin="libP3D.so">
@@ -381,42 +394,43 @@
<interface:position name="p3d_base_position"/>
</controller:P3D>
- <controller:F3D name="f3d_finger_tip_l_left_controller" plugin="libF3D.so">
+ <controller:F3D name="f3d_left_gripper_l_finger_tip_controller" plugin="libF3D.so">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
- <bodyName>finger_tip_l_left</bodyName>
- <topicName>finger_tip_l_left_ground_truth</topicName>
+ <bodyName>left_gripper_l_finger_tip</bodyName>
+ <topicName>left_gripper_l_finger_tip_ground_truth</topicName>
<frameName>map</frameName>
- <interface:position name="f3d_finger_tip_l_left_position"/>
+ <interface:position name="f3d_left_gripper_l_finger_tip_position"/>
</controller:F3D>
- <controller:F3D name="f3d_finger_tip_r_left_controller" plugin="libF3D.so">
+ <controller:F3D name="f3d_left_gripper_r_finger_tip_controller" plugin="libF3D.so">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
- <bodyName>finger_tip_r_left</bodyName>
- <topicName>finger_tip_r_left_ground_truth</topicName>
+ <bodyName>left_gripper_r_finger_tip</bodyName>
+ <topicName>left_gripper_r_finger_tip_ground_truth</topicName>
<frameName>map</frameName>
- <interface:position name="f3d_finger_tip_r_left_position"/>
+ <interface:position name="f3d_left_gripper_r_finger_tip_position"/>
</controller:F3D>
- <controller:F3D name="f3d_finger_tip_l_right_controller" plugin="libF3D.so">
+ <controller:F3D name="f3d_right_gripper_l_finger_tip_controller" plugin="libF3D.so">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
- <bodyName>finger_tip_l_right</bodyName>
- <topicName>finger_tip_l_right_ground_truth</topicName>
+ <bodyName>right_gripper_l_finger_tip</bodyName>
+ <topicName>right_gripper_l_finger_tip_ground_truth</topicName>
<frameName>map</frameName>
- <interface:position name="f3d_finger_tip_l_right_position"/>
+ <interface:position name="f3d_right_gripper_l_finger_tip_position"/>
</controller:F3D>
- <controller:F3D name="f3d_finger_tip_r_right_controller" plugin="libF3D.so">
+ <controller:F3D name="f3d_right_gripper_r_finger_tip_controller" plugin="libF3D.so">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
- <bodyName>finger_tip_r_right</bodyName>
- <topicName>finger_tip_r_right_ground_truth</topicName>
+ <bodyName>right_gripper_r_finger_tip</bodyName>
+ <topicName>right_gripper_r_finger_tip_ground_truth</topicName>
<frameName>map</frameName>
- <interface:position name="f3d_finger_tip_r_right_position"/>
+ <interface:position name="f3d_right_gripper_r_finger_tip_position"/>
</controller:F3D>
+
</model:physical>
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 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_multi_link.world 2008-11-14 02:20:20 UTC (rev 6719)
@@ -166,7 +166,7 @@
<!-- multi link -->
<include embedded="true">
- <xi:include href="pr2_xml_multi_link.model" />
+ <xi:include href="multi_link.model" />
</include>
<!-- PR2_ACTARRAY -->
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_obstacle.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_obstacle.world 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_obstacle.world 2008-11-14 02:20:20 UTC (rev 6719)
@@ -20,15 +20,19 @@
<verbosity>5</verbosity>
-<!-- cfm is 1e-5 for single precision -->
-<!-- erp is typically .1-.8 -->
-<!-- here's the global contact cfm/erp -->
+ <!-- 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>
+ <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>
+ <quickStepIters>3</quickStepIters>
+ <quickStepW>1.3</quickStepW>
</physics:ode>
<geo:origin>
@@ -42,8 +46,8 @@
<frames>
<row height="100%">
<camera width="100%">
- <xyz>0.6 -1.55 0.73</xyz>
- <rpy>0 10 94</rpy>
+ <xyz>0 0 20</xyz>
+ <rpy>0 90 90</rpy>
</camera>
</row>
</frames>
@@ -347,9 +351,121 @@
<!-- base, torso and arms -->
<include embedded="true">
- <xi:include href="pr2_xml.model" />
+ <xi:include href="pr2.model" />
</include>
+ <!-- PR2_ACTARRAY -->
+ <controller:gazebo_mechanism_control name="gazebo_mechanism_control" plugin="libgazebo_mechanism_control.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>1000.0</updateRate>
+ <interface:audio name="gazebo_mechanism_control_dummy_iface" />
+ </controller:gazebo_mechanism_control>
+
+ <!-- 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>
+
+ <!-- ptz camera controls -->
+ <controller:Ros_PTZ name="left_ptz_cam_controller" plugin="libRos_PTZ.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>15.0</updateRate>
+ <panJoint>left_ptz_pan_joint</panJoint>
+ <tiltJoint>left_ptz_tilt_joint</tiltJoint>
+ <commandTopicName>axis_left/ptz_cmd</commandTopicName>
+ <stateTopicName>axis_left/ptz_state</stateTopicName>
+ <interface:ptz name="left_ptz_cam_iface" />
+ </controller:Ros_PTZ>
+
+ <controller:Ros_PTZ name="right_ptz_cam_controller" plugin="libRos_PTZ.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>15.0</updateRate>
+ <panJoint>right_ptz_pan_joint</panJoint>
+ <tiltJoint>right_ptz_tilt_joint</tiltJoint>
+ <commandTopicName>axis_right/ptz_cmd</commandTopicName>
+ <stateTopicName>axis_right/ptz_state</stateTopicName>
+ <interface:ptz name="right_ptz_cam_iface" />
+ </controller:Ros_PTZ>
+
+ <!-- P3D for position groundtruth -->
+ <controller:P3D name="p3d_right_gripper_palm_controller" plugin="libP3D.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>1000.0</updateRate>
+ <bodyName>right_gripper_palm</bodyName>
+ <topicName>right_gripper_palm_pose_ground_truth</topicName>
+ <gaussianNoise>0.01</gaussianNoise>
+ <frameName>map</frameName>
+ <interface:position name="p3d_right_gripper_palm_position"/>
+ </controller:P3D>
+
+ <controller:P3D name="p3d_left_gripper_palm_controller" plugin="libP3D.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>1000.0</updateRate>
+ <bodyName>left_gripper_palm</bodyName>
+ <topicName>left_gripper_palm_pose_ground_truth</topicName>
+ <gaussianNoise>0.01</gaussianNoise>
+ <frameName>map</frameName>
+ <interface:position name="p3d_left_gripper_palm_position"/>
+ </controller:P3D>
+
+ <controller:P3D name="p3d_base_controller" plugin="libP3D.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>1000.0</updateRate>
+ <bodyName>base</bodyName>
+ <topicName>base_pose_ground_truth</topicName>
+ <gaussianNoise>0.01</gaussianNoise>
+ <frameName>map</frameName>
+ <xyzOffsets>25.65 25.65 0</xyzOffsets> <!-- initialize odometry for fake localization-->
+ <rpyOffsets>0 0 0</rpyOffsets>
+ <interface:position name="p3d_base_position"/>
+ </controller:P3D>
+
+ <controller:F3D name="f3d_left_gripper_l_finger_tip_controller" plugin="libF3D.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>1000.0</updateRate>
+ <bodyName>left_gripper_l_finger_tip</bodyName>
+ <topicName>left_gripper_l_finger_tip_ground_truth</topicName>
+ <frameName>map</frameName>
+ <interface:position name="f3d_left_gripper_l_finger_tip_position"/>
+ </controller:F3D>
+
+ <controller:F3D name="f3d_left_gripper_r_finger_tip_controller" plugin="libF3D.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>1000.0</updateRate>
+ <bodyName>left_gripper_r_finger_tip</bodyName>
+ <topicName>left_gripper_r_finger_tip_ground_truth</topicName>
+ <frameName>map</frameName>
+ <interface:position name="f3d_left_gripper_r_finger_tip_position"/>
+ </controller:F3D>
+
+ <controller:F3D name="f3d_right_gripper_l_finger_tip_controller" plugin="libF3D.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>1000.0</updateRate>
+ <bodyName>right_gripper_l_finger_tip</bodyName>
+ <topicName>right_gripper_l_finger_tip_ground_truth</topicName>
+ <frameName>map</frameName>
+ <interface:position name="f3d_right_gripper_l_finger_tip_position"/>
+ </controller:F3D>
+
+ <controller:F3D name="f3d_right_gripper_r_finger_tip_controller" plugin="libF3D.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>1000.0</updateRate>
+ <bodyName>right_gripper_r_finger_tip</bodyName>
+ <topicName>right_gripper_r_finger_tip_ground_truth</topicName>
+ <frameName>map</frameName>
+ <interface:position name="f3d_right_gripper_r_finger_tip_position"/>
+ </controller:F3D>
+
+
</model:physical>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_prototype1.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_prototype1.world 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_prototype1.world 2008-11-14 02:20:20 UTC (rev 6719)
@@ -101,7 +101,34 @@
</body:map>
</model:physical>
+ <!-- large desk in green room -->
+ <model:physical name="obstacles_model1">
+ <xyz>-2 -12 0</xyz>
+ <rpy>0.0 0.0 0.0 </rpy>
+ <include embedded="true">
+ <xi:include href="desk1.model" />
+ </include>
+ </model:physical>
+ <!-- small desks -->
+ <model:physical name="obstacles_model2">
+ <xyz>-11 2.5 0</xyz>
+ <rpy>0.0 0.0 0.0 </rpy>
+ <include embedded="true">
+ <xi:include href="desk2.model" />
+ </include>
+ </model:physical>
+
+ <!-- small desks -->
+ <model:physical name="obstacles_model3">
+ <xyz>-4 -12 0</xyz>
+ <rpy>0.0 0.0 0.0 </rpy>
+ <include embedded="true">
+ <xi:include href="desk3.model" />
+ </include>
+ </model:physical>
+
+
<model:physical name="robot_model1">
<controller:ros_time name="ros_time" plugin="libRos_Time.so">
@@ -115,7 +142,7 @@
<!-- base, torso and arms -->
<include embedded="true">
- <xi:include href="pr2_xml_prototype1.model" />
+ <xi:include href="pr2_prototype1.model" />
</include>
<!-- PR2_ACTARRAY -->
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 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_single_link.world 2008-11-14 02:20:20 UTC (rev 6719)
@@ -180,7 +180,7 @@
<!-- single link -->
<include embedded="true">
- <xi:include href="pr2_xml_single_link.model" />
+ <xi:include href="single_link.model" />
</include>
<!-- PR2_ACTARRAY -->
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg.world 2008-11-14 01:53:33 UTC (rev 6718)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg.world 2008-11-14 02:20:20 UTC (rev 6719)
@@ -142,7 +142,7 @@
<!-- base, torso and arms -->
<include embedded="true">
- <xi:include href="pr2_xml.model" />
+ <xi:include href="pr2.model" />
</include>
<!-- PR2_ACTARRAY -->
@@ -167,45 +167,45 @@
</controller:gazebo_battery>
<!-- ptz camera controls -->
- <controller:Ros_PTZ name="ptz_cam_left_controller" plugin="libRos_PTZ.so">
+ <controller:Ros_PTZ name="left_ptz_cam_controller" plugin="libRos_PTZ.so">
<alwaysOn>true</alwaysOn>
<updateRate>15.0</updateRate>
- <panJoint>ptz_pan_left_joint</panJoint>
- <tiltJoint>ptz_tilt_left_joint</tiltJoint>
+ <panJoint>left_ptz_pan_joint</panJoint>
+ <tiltJoint>left_ptz_tilt_joint</tiltJoint>
<commandTopicName>axis_left/ptz_cmd</commandTopicName>
<stateTopicName>axis_left/ptz_state</stateTopicName>
- <interface:ptz name="ptz_left_iface" />
+ <interface:ptz name="left_ptz_cam_iface" />
</controller:Ros_PTZ>
- <controller:Ros_PTZ name="ptz_cam_right_controller" plugin="libRos_PTZ.so">
+ <controller:Ros_PTZ name="right_ptz_cam_controller" plugin="libRos_PTZ.so">
<alwaysOn>true</alwaysOn>
<updateRate>15.0</updateRate>
- <panJoint>ptz_pan_right_joint</panJoint>
- <tiltJoint>ptz_tilt_right_joint</tiltJoint>
+ <panJoint>right_ptz_pan_joint</panJoint>
+ <tiltJoint>right_ptz_tilt_joint</tiltJoint>
<commandTopicName>axis_right/ptz_cmd</commandTopicName>
<stateTopicName>axis_right/ptz_state</stateTopicName>
- <interface:ptz name="ptz_right_iface" />
+ <interface:ptz name="right_ptz_cam_iface" />
</controller:Ros_PTZ>
<!-- P3D for position groundtruth -->
- <controller:P3D name="p3d_right_wrist_controller" plugin="libP3D.so">
+ <controller:P3D name="p3d_right_gripper_palm_controller" plugin="libP3D.so">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
- <bodyName>gripper_roll_right</bodyName>
- <topicName>gripper_roll_right_pose_ground_truth</topicName>
+ <bodyName>right_gripper_palm</bodyName>
+ <topicName>right_gripper_palm_pose_ground_truth</topicName>
<gaussianNoise>0.01</gaussianNoise>
<frameName>map</frameName>
- <interface:position name="p3d_right_wrist_position"/>
+ <interface:position name="p3d_right_gripper_palm_position"/>
</controller:P3D>
- <controller:P3D name="p3d_left_wrist_controller" plugin="libP3D.so">
+ <controller:P3D name="p3d_left_gripper_palm_controller" plugin="libP3D.so">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
- <bodyName>gripper_roll_left</bodyName>
- <topicName>gripper_roll_left_pose_ground_truth</topicName>
+ <bodyName>left_gripper_palm</bodyName>
+ <topicName>left_gripper_palm_pose_ground_truth</topicName>
<gaussianNoise>0.01</gaussianNoise>
<frameName>map</frameName>
- <interface:position name="p3d_left_wrist_position"/>
+ <interface:position name="p3d_left_gripper_palm_position"/>
</controller:P3D>
<controller:P3D name="p3d_base_controller" plugin="libP3D.so">
@@ -220,40 +220,40 @@
<interface:position name="p3d_base_position"/>
</controller:P3D>
- <controller:F3D name="f3d_finger_tip_l_left_controller" plugin="libF3D.so">
+ <controller:F3D name="f3d_left_gripper_l_finger_tip_controller" plugin="libF3D.so">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
- <bodyName>finger_tip_l_left</bodyName>
- <topicName>finger_tip_l_left_ground_truth</topicName>
+ <bodyName>left_gripper_l_finger_tip</bodyName>
+ <topicName>left_gripper_l_finger_tip_ground_truth</topicName>
<frameName>map</frameName>
- <interface:position name="f3d_finger_tip_l_left_position"/>
+ <interface:position name="f3d_left_gripper_l_finger_tip_position"/>
</controller:F3D>
- <controller:F3D name="f3d_finger_tip_r_left_controller" plugin="libF3D.so">
+ <controller:F3D name="f3d_left_gripper_r_finger_tip_controller" plugin="libF3D.so">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRa...
[truncated message content] |
