[Personalrobots-commit] SF.net SVN: personalrobots:[6990] pkg/trunk

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Revision: 6990
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=6990&view=rev
Author:   hsujohnhsu
Date:     2008-11-19 18:02:19 +0000 (Wed, 19 Nov 2008)

Log Message:
-----------

 * update arm launch file to stop generating .model on launch.
 * move Ros_Time plugin block from world files to gazebo_defs.xml.
 * update testcameras.xml valid image.
 * update Makefile for pr2_prototype1. (remove these later).
 * fix indents in pr2d2.xml.
 * sped up robot_floorobj.world to 200Hz.

Modified Paths:
--------------
    pkg/trunk/demos/arm_gazebo/arm.launch
    pkg/trunk/drivers/simulator/gazebo_plugin/test/testcamera.valid.ppm
    pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_arm_test.world
    pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_floorobj.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_simple.world
    pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_tablegrasp.world
    pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg.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
    pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm/pr2d2.xml
    pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/Makefile
    pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_arm.xacro.xml
    pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/Makefile
    pkg/trunk/robot_descriptions/wg_robot_description/pr2_robot_defs/gazebo_defs.xml

Modified: pkg/trunk/demos/arm_gazebo/arm.launch
===================================================================

--- pkg/trunk/demos/arm_gazebo/arm.launch	2008-11-19 17:11:50 UTC (rev 6989)
+++ pkg/trunk/demos/arm_gazebo/arm.launch	2008-11-19 18:02:19 UTC (rev 6990)
@@ -1,7 +1,5 @@
 <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.expanded $(find gazebo_robot_description)/world/pr2_arm.model" />
     <!-- send pr2_arm.xml to param server -->
     <include file="$(find wg_robot_description)/pr2_arm_test/send_description.launch" />
     <!-- -g flag runs gazebo in gui-less mode -->

Modified: pkg/trunk/drivers/simulator/gazebo_plugin/test/testcamera.valid.ppm
===================================================================
(Binary files differ)

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	2008-11-19 17:11:50 UTC (rev 6989)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_arm_test.world	2008-11-19 18:02:19 UTC (rev 6990)
@@ -157,13 +157,6 @@
   <!-- 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>
@@ -173,16 +166,6 @@
       <xi:include href="pr2_arm.model" />
     </include>
 
-    <!-- P3D for position groundtruth -->
-    <controller:P3D name="p3d_left_wrist_controller" plugin="libP3D.so">
-      <alwaysOn>true</alwaysOn>
-      <updateRate>1000.0</updateRate>
-      <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>
-
   </model:physical>
 
 

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_floorobj.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_floorobj.world	2008-11-19 17:11:50 UTC (rev 6989)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_floorobj.world	2008-11-19 18:02:19 UTC (rev 6990)
@@ -24,7 +24,7 @@
   <!-- erp is typically .1-.8 -->
   <!-- here's the global contact cfm/erp -->
   <physics:ode>
-    <stepTime>0.001</stepTime>
+    <stepTime>0.005</stepTime>
     <gravity>0 0 -9.8</gravity>
     <cfm>0.000000000001</cfm>
     <erp>0.2</erp>
@@ -305,12 +305,6 @@
 
   <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>
 

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_obstacle.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_obstacle.world	2008-11-19 17:11:50 UTC (rev 6989)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_obstacle.world	2008-11-19 18:02:19 UTC (rev 6990)
@@ -340,12 +340,6 @@
 
   <model:physical name="robot_model1">
 
-    <controller:ros_time name="ros_time" plugin="libRos_Time.so">
-      <alwaysOn>true</alwaysOn>
-      <updateRate>100.0</updateRate>
-      <interface:audio name="dummy_ros_time_iface_should_not_be_here"/>
-    </controller:ros_time>
-
     <xyz>0.0 0.0 0.0408</xyz> <!-- bottom of base off the ground by this much, basically wheel height below skirt -->
     <rpy>0.0 0.0 0.0 </rpy>
 

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_pr2d2.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_pr2d2.world	2008-11-19 17:11:50 UTC (rev 6989)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_pr2d2.world	2008-11-19 18:02:19 UTC (rev 6990)
@@ -309,12 +309,6 @@
 
   <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 0.02</xyz> <!-- bottom of base off the ground by this much, basically wheel height below skirt -->
     <rpy>0.0 0.0 0.0 </rpy>
 

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_prototype1.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_prototype1.world	2008-11-19 17:11:50 UTC (rev 6989)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_prototype1.world	2008-11-19 18:02:19 UTC (rev 6990)
@@ -24,7 +24,7 @@
 <!-- erp is typically .1-.8 -->
 <!-- here's the global contact cfm/erp -->
   <physics:ode>
-    <stepTime>0.001</stepTime>
+    <stepTime>0.005</stepTime>
     <gravity>0 0 -9.8</gravity>
     <cfm>0.0000000001</cfm>
     <erp>0.2</erp>
@@ -131,12 +131,6 @@
 
   <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>
 

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_simple.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_simple.world	2008-11-19 17:11:50 UTC (rev 6989)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_simple.world	2008-11-19 18:02:19 UTC (rev 6990)
@@ -273,12 +273,6 @@
 
   <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>
 

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_tablegrasp.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_tablegrasp.world	2008-11-19 17:11:50 UTC (rev 6989)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_tablegrasp.world	2008-11-19 18:02:19 UTC (rev 6990)
@@ -300,12 +300,6 @@
 
   <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>
 

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg.world	2008-11-19 17:11:50 UTC (rev 6989)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg.world	2008-11-19 18:02:19 UTC (rev 6990)
@@ -131,12 +131,6 @@
 
   <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>
 

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/testcameras.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/testcameras.world	2008-11-19 17:11:50 UTC (rev 6989)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/testcameras.world	2008-11-19 18:02:19 UTC (rev 6990)
@@ -191,12 +191,6 @@
   
   <model:physical name="robot_model1">
 
-    <controller:ros_time name="ros_time" plugin="libRos_Time.so">
-      <alwaysOn>true</alwaysOn>
-      <updateRate>100.0</updateRate>
-      <interface:audio name="dummy_ros_time_iface_should_not_be_here"/>
-    </controller:ros_time>
-
     <xyz> -3.0     0.0   0.0408 </xyz>
     <rpy>  0.0     0.0   0.0 </rpy>
 

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/testscan.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/testscan.world	2008-11-19 17:11:50 UTC (rev 6989)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/testscan.world	2008-11-19 18:02:19 UTC (rev 6990)
@@ -189,12 +189,6 @@
   
   <model:physical name="robot_model1">
 
-    <controller:ros_time name="ros_time" plugin="libRos_Time.so">
-      <alwaysOn>true</alwaysOn>
-      <updateRate>100.0</updateRate>
-      <interface:audio name="dummy_ros_time_iface_should_not_be_here"/>
-    </controller:ros_time>
-
     <xyz>0.0     0.0   0.0408 </xyz>
     <rpy>0.0     0.0   0.0 </rpy>
 

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/testslide.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/testslide.world	2008-11-19 17:11:50 UTC (rev 6989)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/testslide.world	2008-11-19 18:02:19 UTC (rev 6990)
@@ -336,12 +336,6 @@
 
   <model:physical name="robot_model1">
 
-    <controller:ros_time name="ros_time" plugin="libRos_Time.so">
-      <alwaysOn>true</alwaysOn>
-      <updateRate>100.0</updateRate>
-      <interface:audio name="dummy_ros_time_iface_should_not_be_here"/>
-    </controller:ros_time>
-
     <xyz>0.0     8.0   110.0 </xyz>
     <rpy>0.0     0.0   90.0 </rpy>
 

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/teststereo.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/teststereo.world	2008-11-19 17:11:50 UTC (rev 6989)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/teststereo.world	2008-11-19 18:02:19 UTC (rev 6990)
@@ -189,12 +189,6 @@
   
   <model:physical name="robot_model1">
 
-    <controller:ros_time name="ros_time" plugin="libRos_Time.so">
-      <alwaysOn>true</alwaysOn>
-      <updateRate>100.0</updateRate>
-      <interface:audio name="dummy_ros_time_iface_should_not_be_here"/>
-    </controller:ros_time>
-
     <xyz>0.0     0.0   0.0408 </xyz>
     <rpy>0.0     0.0   0.0 </rpy>
 

Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm/pr2d2.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm/pr2d2.xml	2008-11-19 17:11:50 UTC (rev 6989)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm/pr2d2.xml	2008-11-19 18:02:19 UTC (rev 6990)
@@ -506,16 +506,22 @@
 <map name="transmissions_gazebo_mechanism_control" flag="gazebo"> <!-- we can set a name too, but the convertor only cares about the flag -->
   <verbatim key="transmissions_gazebo_mechanism_control" includes="true"> <!-- The key attribute is needed noly if multiple <xml> tags are in the same <map> tag -->
 
-  <!-- PR2_ACTARRAY -->
-  <controller:gazebo_mechanism_control name="gazebo_mechanism_control" plugin="libgazebo_mechanism_control.so">
-    <alwaysOn>true</alwaysOn>
-    <updateRate>1000.0</updateRate>
+    <!-- PR2_ACTARRAY -->
+    <controller:gazebo_mechanism_control name="gazebo_mechanism_control" plugin="libgazebo_mechanism_control.so">
+      <alwaysOn>true</alwaysOn>
+      <updateRate>1000.0</updateRate>
 
-    <robot filename="pr2d2.xml" />
+      <robot filename="pr2d2.xml" />
 
-    <interface:audio name="gazebo_mechanism_control_dummy_iface" />
-  </controller:gazebo_mechanism_control>
+      <interface:audio name="gazebo_mechanism_control_dummy_iface" />
+    </controller:gazebo_mechanism_control>
 
+    <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>
+
   </verbatim>
 </map>
 

Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/Makefile
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/Makefile	2008-11-19 17:11:50 UTC (rev 6989)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/Makefile	2008-11-19 18:02:19 UTC (rev 6990)
@@ -4,11 +4,11 @@
 
 ROBOT = pr2_arm
 
-$(ROBOT).model: $(ROBOT).xml
-	$(XACRO) $^ > $^.expanded
-	$(URDF2GAZEBO) $^.expanded $(MODEL_FILE)/$@
+$(ROBOT).model: $(ROBOT).xacro.xml
+	$(XACRO) $^ > $(ROBOT).xml
+	$(URDF2GAZEBO) $(ROBOT).xml $(MODEL_FILE)/$@
 
 clean:
-	$(RM) $(ROBOT).xml.expanded $(MODEL_FILE)/$(ROBOT).model
+	$(RM) $(ROBOT).xml $(MODEL_FILE)/$(ROBOT).model
 	$(RM) core.* Ogre.log
 

Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_arm.xacro.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_arm.xacro.xml	2008-11-19 17:11:50 UTC (rev 6989)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_arm.xacro.xml	2008-11-19 18:02:19 UTC (rev 6990)
@@ -58,4 +58,19 @@
     </collision>
   </link>
 
+  <map name="gazebo_material" flag="gazebo">
+  <verbatim>
+    <!-- P3D for position groundtruth -->
+    <controller:P3D name="p3d_left_wrist_controller" plugin="libP3D.so">
+      <alwaysOn>true</alwaysOn>
+      <updateRate>1000.0</updateRate>
+      <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>
+  </verbatim>
+  </map>
+
+
 </robot>

Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/Makefile
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/Makefile	2008-11-19 17:11:50 UTC (rev 6989)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/Makefile	2008-11-19 18:02:19 UTC (rev 6990)
@@ -9,5 +9,5 @@
 	$(URDF2GAZEBO) $^.xml $(MODEL_FILE)/$@
 
 clean:
-	$(RM) $(ROBOT).xml.expanded $(MODEL_FILE)/$(ROBOT).model
+	$(RM) $(ROBOT).xml $(MODEL_FILE)/$(ROBOT).model
 	$(RM) core.* Ogre.log

Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2_robot_defs/gazebo_defs.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_robot_defs/gazebo_defs.xml	2008-11-19 17:11:50 UTC (rev 6989)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_robot_defs/gazebo_defs.xml	2008-11-19 18:02:19 UTC (rev 6990)
@@ -25,6 +25,12 @@
       <interface:audio name="battery_dummy_interface" />
     </controller:gazebo_battery>
 
+    <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>
+
   </verbatim>
 </map>
 


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