[Personalrobots-commit] SF.net SVN: personalrobots:[7062] pkg/trunk

SourceForge Headquarters 1320 Columbia Street Suite 310 San Diego, CA 92101 +1 (858) 422-6466

Revision: 7062
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=7062&view=rev
Author:   hsujohnhsu
Date:     2008-11-20 18:19:49 +0000 (Thu, 20 Nov 2008)

Log Message:
-----------
update examples to use urdf2factory.

Modified Paths:
--------------
    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/robot_descriptions/wg_robot_description/dual_link_test/dual_link.xml
    pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/multi_link.xml
    pkg/trunk/robot_descriptions/wg_robot_description/single_link_test/single_link.xml

Modified: pkg/trunk/demos/examples_gazebo/dual_link.xml
===================================================================

--- pkg/trunk/demos/examples_gazebo/dual_link.xml	2008-11-20 18:16:57 UTC (rev 7061)
+++ pkg/trunk/demos/examples_gazebo/dual_link.xml	2008-11-20 18:19:49 UTC (rev 7062)
@@ -4,13 +4,16 @@
     <include file="$(find wg_robot_description)/dual_link_test/send_description.launch" />
 
     <!-- start gazebo -->
-    <node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/world/robot_dual_link.world" respawn="false" output="screen">
+    <node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/gazebo_worlds/empty.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>
   </group>
+  <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
+  <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" /> <!-- load default arm controller -->
+
   <!--node pkg="mechanism_control" type="mech.py" args="sp $(find wg_robot_description)/dual_link_test/controllers_dual_link.xml" respawn="false" output="screen" /--> <!-- load default arm controller -->
   <!--node pkg="robot_mechanism_controllers" type="control.py" args="set test_controller 0.5" respawn="false" output="screen" /--> <!-- open gripper .5 radians -->
 </launch>

Modified: pkg/trunk/demos/examples_gazebo/multi_link.xml
===================================================================
--- pkg/trunk/demos/examples_gazebo/multi_link.xml	2008-11-20 18:16:57 UTC (rev 7061)
+++ pkg/trunk/demos/examples_gazebo/multi_link.xml	2008-11-20 18:19:49 UTC (rev 7062)
@@ -4,13 +4,16 @@
     <include file="$(find wg_robot_description)/multi_link_test/send_description.launch" />
 
     <!-- start gazebo -->
-    <node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/world/robot_multi_link.world" respawn="false" output="screen">
+    <node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/gazebo_worlds/empty.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>
   </group>
+  <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
+  <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" /> <!-- load default arm controller -->
+
   <!--node pkg="mechanism_control" type="mech.py" args="sp $(find wg_robot_description)/multi_link_test/controllers_multi_link.xml" respawn="false" output="screen" /--> <!-- load default arm controller -->
   <!--node pkg="robot_mechanism_controllers" type="control.py" args="set test_controller 0.5" respawn="false" output="screen" /--> <!-- open gripper .5 radians -->
 </launch>

Modified: pkg/trunk/demos/examples_gazebo/single_link.xml
===================================================================
--- pkg/trunk/demos/examples_gazebo/single_link.xml	2008-11-20 18:16:57 UTC (rev 7061)
+++ pkg/trunk/demos/examples_gazebo/single_link.xml	2008-11-20 18:19:49 UTC (rev 7062)
@@ -4,13 +4,16 @@
     <include file="$(find wg_robot_description)/single_link_test/send_description.launch" />
 
     <!-- start gazebo -->
-    <node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/world/robot_single_link.world" respawn="false" output="screen">
+    <node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/gazebo_worlds/empty.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>
   </group>
+  <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
+  <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" /> <!-- load default arm controller -->
+
   <node pkg="mechanism_control" type="mech.py" args="sp $(find wg_robot_description)/single_link_test/controllers_single_link.xml" respawn="false" output="screen" /> <!-- load default arm controller -->
   <node pkg="robot_mechanism_controllers" type="control.py" args="set test_controller 0.5" respawn="false" output="screen" /> <!-- open gripper .5 radians -->
 </launch>

Modified: pkg/trunk/robot_descriptions/wg_robot_description/dual_link_test/dual_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/dual_link_test/dual_link.xml	2008-11-20 18:16:57 UTC (rev 7061)
+++ pkg/trunk/robot_descriptions/wg_robot_description/dual_link_test/dual_link.xml	2008-11-20 18:19:49 UTC (rev 7062)
@@ -126,4 +126,44 @@
   <!-- mechanism controls -->
   <include filename="./transmissions_dual_link.xml" />
   
+  <map name="sensor" flag="gazebo">
+    <verbatim key="mechanism_control_simulation">
+    <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>
+
+    <!-- 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>
+
+    <!-- P3D for position groundtruth -->
+    <controller:P3D name="p3d_link1_controller" plugin="libP3D.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>1000.0</updateRate>
+        <bodyName>link1</bodyName>
+        <topicName>link1_pose</topicName>
+        <frameName>map</frameName>
+        <xyzOffsets>0 0 0.5</xyzOffsets> <!-- at pivot of link2 -->
+        <rpyOffsets>0 0 0.0</rpyOffsets>
+        <interface:position name="p3d_link1_position"/>
+    </controller:P3D>
+
+    <!-- P3D for position groundtruth -->
+    <controller:P3D name="p3d_link2_controller" plugin="libP3D.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>1000.0</updateRate>
+        <bodyName>link2</bodyName>
+        <topicName>link2_pose</topicName>
+        <frameName>map</frameName>
+        <interface:position name="p3d_link2_position"/>
+    </controller:P3D>
+
+    </verbatim>
+  </map>
 </robot>

Modified: pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/multi_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/multi_link.xml	2008-11-20 18:16:57 UTC (rev 7061)
+++ pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/multi_link.xml	2008-11-20 18:19:49 UTC (rev 7062)
@@ -326,5 +326,33 @@
   <include filename="./groups_multi_link.xml" />
   <!-- mechanism controls -->
   <include filename="./transmissions_multi_link.xml" />
+
+  <map name="sensor" flag="gazebo">
+    <verbatim key="mechanism_control_simulation">
+      <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>
+
+      <!-- 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>
+
+      <!-- P3D for position groundtruth -->
+      <controller:P3D name="p3d_link3_controller" plugin="libP3D.so">
+          <alwaysOn>true</alwaysOn>
+          <updateRate>1000.0</updateRate>
+          <bodyName>link3</bodyName>
+          <topicName>link3_pose</topicName>
+          <frameName>map</frameName>
+          <interface:position name="p3d_link3_position"/>
+      </controller:P3D>
+    </verbatim>
+  </map>
   
 </robot>

Modified: pkg/trunk/robot_descriptions/wg_robot_description/single_link_test/single_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/single_link_test/single_link.xml	2008-11-20 18:16:57 UTC (rev 7061)
+++ pkg/trunk/robot_descriptions/wg_robot_description/single_link_test/single_link.xml	2008-11-20 18:19:49 UTC (rev 7062)
@@ -80,6 +80,33 @@
       <elem key="turnGravityOff">true</elem>
     </map>
   </link>
+  <map name="sensor" flag="gazebo">
+    <verbatim key="mechanism_control_simulation">
+      <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>
+
+      <!-- PR2_ACTARRAY -->
+      <controller:gazebo_mechanism_control name="gazebo_mechanism_control" plugin="libgazebo_mechanism_control.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>100.0</updateRate>
+
+        <interface:audio name="gazebo_mechanism_control_dummy_iface" />
+      </controller:gazebo_mechanism_control>
+
+      <!-- P3D for position groundtruth -->
+      <controller:P3D name="p3d_link1_controller" plugin="libP3D.so">
+          <alwaysOn>true</alwaysOn>
+          <updateRate>100.0</updateRate>
+          <bodyName>link1</bodyName>
+          <topicName>link1_pose</topicName>
+          <frameName>map</frameName>
+          <interface:position name="p3d_link1_position"/>
+      </controller:P3D>
+    </verbatim>
+  </map>
   <!-- Define groups of links; a link may be part of multiple groups -->
   <include filename="./groups_single_link.xml" />
   <!-- mechanism controls -->


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.


