[Personalrobots-commit] SF.net SVN: personalrobots:[6810] pkg/trunk

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

Revision: 6810
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=6810&view=rev
Author:   hsujohnhsu
Date:     2008-11-15 21:05:59 +0000 (Sat, 15 Nov 2008)

Log Message:
-----------
updates to test worlds for gazebo plugins.

Modified Paths:
--------------
    pkg/trunk/drivers/simulator/gazebo_plugin/test/testbase.xml
    pkg/trunk/drivers/simulator/gazebo_plugin/test/testcameras.xml
    pkg/trunk/drivers/simulator/gazebo_plugin/test/testpendulum.xml
    pkg/trunk/drivers/simulator/gazebo_plugin/test/testscan.xml
    pkg/trunk/drivers/simulator/gazebo_plugin/test/testslide.xml
    pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_floorobj.world
    pkg/trunk/robot_descriptions/gazebo_robot_description/world/testcameras.world
    pkg/trunk/robot_descriptions/gazebo_robot_description/world/testscan.world
    pkg/trunk/robot_descriptions/gazebo_robot_description/world/testslide.world
    pkg/trunk/robot_descriptions/gazebo_robot_description/world/teststereo.world

Modified: pkg/trunk/drivers/simulator/gazebo_plugin/test/testbase.xml
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/test/testbase.xml	2008-11-15 20:49:24 UTC (rev 6809)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/test/testbase.xml	2008-11-15 21:05:59 UTC (rev 6810)
@@ -1,8 +1,10 @@
 <launch>
   <master auto="start" />
 
-    <param name="robotdesc/pr2" command="$(find wg_robot_description_parser)/merge &quot;$(find wg_robot_description)/pr2/pr2.xml&quot;" />
-    <node pkg="gazebo" type="gazebo" args="-g -n $(find gazebo_robot_description)/world/robot_headless.world" respawn="false" output="screen">
+    <!-- send single_link.xml to param server -->
+    <include file="$(find wg_robot_description)/pr2/send_description.launch" />
+
+    <node pkg="gazebo" type="gazebo" args="-g -n $(find gazebo_robot_description)/world/robot_simple.world" respawn="false" output="screen">
       <env name="LD_LIBRARY_PATH" value="$(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" />

Modified: pkg/trunk/drivers/simulator/gazebo_plugin/test/testcameras.xml
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/test/testcameras.xml	2008-11-15 20:49:24 UTC (rev 6809)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/test/testcameras.xml	2008-11-15 21:05:59 UTC (rev 6810)
@@ -1,7 +1,9 @@
 <launch>
   <master auto="start" />
 
-    <param name="robotdesc/pr2" command="$(find wg_robot_description_parser)/merge &quot;$(find wg_robot_description)/pr2/pr2.xml&quot;" />
+    <!-- send single_link.xml to param server -->
+    <include file="$(find wg_robot_description)/pr2/send_description.launch" />
+
     <node pkg="gazebo" type="gazebo" args="-g -n $(find gazebo_robot_description)/world/testcameras.world" respawn="false" output="screen">
       <env name="LD_LIBRARY_PATH" value="$(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/drivers/simulator/gazebo_plugin/test/testpendulum.xml
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/test/testpendulum.xml	2008-11-15 20:49:24 UTC (rev 6809)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/test/testpendulum.xml	2008-11-15 21:05:59 UTC (rev 6810)
@@ -1,8 +1,11 @@
 
 <launch>
   <group name="wg">
-    <param name="robotdesc/pr2" command="$(find wg_robot_description_parser)/merge &quot;$(find wg_robot_description)/dual_link_test/pr2_dual_link.xml&quot;" />
-    <node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/world/robot_dual_link.world" respawn="false" output="screen">
+
+    <!-- send single_link.xml to param server -->
+    <include file="$(find wg_robot_description)/dual_link_test/send_description.launch" />
+
+    <node pkg="gazebo" type="gazebo" args="-g -n $(find gazebo_robot_description)/world/robot_dual_link.world" respawn="false" output="screen">
       <env name="LD_LIBRARY_PATH" value="$(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" />
       <env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />

Modified: pkg/trunk/drivers/simulator/gazebo_plugin/test/testscan.xml
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/test/testscan.xml	2008-11-15 20:49:24 UTC (rev 6809)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/test/testscan.xml	2008-11-15 21:05:59 UTC (rev 6810)
@@ -1,7 +1,9 @@
 <launch>
   <master auto="start" />
 
-    <param name="robotdesc/pr2" command="$(find wg_robot_description_parser)/merge &quot;$(find wg_robot_description)/pr2/pr2.xml&quot;" />
+    <!-- send single_link.xml to param server -->
+    <include file="$(find wg_robot_description)/pr2/send_description.launch" />
+
     <node pkg="gazebo" type="gazebo" args="-g -n $(find gazebo_robot_description)/world/testscan.world" respawn="false" output="screen">
       <env name="LD_LIBRARY_PATH" value="$(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/drivers/simulator/gazebo_plugin/test/testslide.xml
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/test/testslide.xml	2008-11-15 20:49:24 UTC (rev 6809)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/test/testslide.xml	2008-11-15 21:05:59 UTC (rev 6810)
@@ -1,7 +1,9 @@
 <launch>
   <master auto="start" />
 
-    <param name="robotdesc/pr2" command="$(find wg_robot_description_parser)/merge &quot;$(find wg_robot_description)/pr2/pr2.xml&quot;" />
+    <!-- send single_link.xml to param server -->
+    <include file="$(find wg_robot_description)/pr2/send_description.launch" />
+
     <node pkg="gazebo" type="gazebo" args="-g -n $(find gazebo_robot_description)/world/testslide.world" respawn="false" output="screen">
       <env name="LD_LIBRARY_PATH" value="$(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/robot_descriptions/gazebo_robot_description/world/robot_floorobj.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_floorobj.world	2008-11-15 20:49:24 UTC (rev 6809)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_floorobj.world	2008-11-15 21:05:59 UTC (rev 6810)
@@ -20,9 +20,9 @@
 
   <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>0.001</stepTime>
     <gravity>0 0 -9.8</gravity>

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/testcameras.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/testcameras.world	2008-11-15 20:49:24 UTC (rev 6809)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/testcameras.world	2008-11-15 21:05:59 UTC (rev 6810)
@@ -20,15 +20,23 @@
 
   <verbosity>5</verbosity>
 
-<!-- cfm is 1e-5 for single precision -->
-<!-- erp is typically .1-.8 -->
+  <!-- FIXME: pr2 mimic joints Kp setting is unstable at 0.01 -->
+  <!-- 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>true</quickStep>
+    <quickStepIters>3</quickStepIters>
+    <quickStepW>1.3</quickStepW>
+    <quickStepIters>3</quickStepIters>
+    <quickStepW>1.3</quickStepW>
   </physics:ode>
 
+
   <rendering:gui>
     <type>fltk</type>
     <size>1024 800</size>

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/testscan.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/testscan.world	2008-11-15 20:49:24 UTC (rev 6809)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/testscan.world	2008-11-15 21:05:59 UTC (rev 6810)
@@ -20,13 +20,19 @@
 
   <verbosity>5</verbosity>
 
-<!-- cfm is 1e-5 for single precision -->
-<!-- erp is typically .1-.8 -->
+  <!-- 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>true</quickStep>
+    <quickStepIters>3</quickStepIters>
+    <quickStepW>1.3</quickStepW>
+    <quickStepIters>3</quickStepIters>
+    <quickStepW>1.3</quickStepW>
   </physics:ode>
 
   <rendering:gui>

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/testslide.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/testslide.world	2008-11-15 20:49:24 UTC (rev 6809)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/testslide.world	2008-11-15 21:05:59 UTC (rev 6810)
@@ -20,13 +20,19 @@
 
   <verbosity>5</verbosity>
 
-<!-- cfm is 1e-5 for single precision -->
-<!-- erp is typically .1-.8 -->
+  <!-- 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>true</quickStep>
+    <quickStepIters>3</quickStepIters>
+    <quickStepW>1.3</quickStepW>
+    <quickStepIters>3</quickStepIters>
+    <quickStepW>1.3</quickStepW>
   </physics:ode>
 
   <geo:origin>

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/teststereo.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/teststereo.world	2008-11-15 20:49:24 UTC (rev 6809)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/teststereo.world	2008-11-15 21:05:59 UTC (rev 6810)
@@ -20,13 +20,19 @@
 
   <verbosity>5</verbosity>
 
-<!-- cfm is 1e-5 for single precision -->
-<!-- erp is typically .1-.8 -->
+  <!-- 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>true</quickStep>
+    <quickStepIters>3</quickStepIters>
+    <quickStepW>1.3</quickStepW>
+    <quickStepIters>3</quickStepIters>
+    <quickStepW>1.3</quickStepW>
   </physics:ode>
 
   <rendering:gui>


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