[Personalrobots-commit] SF.net SVN: personalrobots:[7099] pkg/trunk

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

Revision: 7099
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=7099&view=rev
Author:   hsujohnhsu
Date:     2008-11-21 00:43:42 +0000 (Fri, 21 Nov 2008)

Log Message:
-----------
demo updates corresponding to name changes.

Modified Paths:
--------------
    pkg/trunk/demos/arm_gazebo/arm.launch
    pkg/trunk/demos/pr2_gazebo/pr2_default_controllers.launch
    pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_controllers.launch
    pkg/trunk/manip/teleop_arm_keyboard/teleop_arm_keyboard.cc

Modified: pkg/trunk/demos/arm_gazebo/arm.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/arm.launch	2008-11-21 00:41:30 UTC (rev 7098)
+++ pkg/trunk/demos/arm_gazebo/arm.launch	2008-11-21 00:43:42 UTC (rev 7099)
@@ -15,7 +15,7 @@
     <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)/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 -->
+    <node pkg="robot_mechanism_controllers" type="control.py" args="set l_gripper_controller 0.5" respawn="false" output="screen" /> <!-- open gripper .5 radians -->
     <!-- for visualization, heavy, off by default -->
     <!--node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" /-->
   </group>

Modified: pkg/trunk/demos/pr2_gazebo/pr2_default_controllers.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_default_controllers.launch	2008-11-21 00:41:30 UTC (rev 7098)
+++ pkg/trunk/demos/pr2_gazebo/pr2_default_controllers.launch	2008-11-21 00:43:42 UTC (rev 7099)
@@ -2,7 +2,7 @@
     <param name="base_controller/odom_publish_rate" value="10" />
     <node pkg="mechanism_control" type="mech.py" args="sp $(find wg_robot_description)/pr2/controllers.xml" respawn="false" output="screen" />
 
-    <!--node pkg="pr2_mechanism_controllers" type="control_laser.py" args="tilt_laser_controller sine 20 0.872 0.3475" respawn="false" output="screen" /-->
-    <node pkg="pr2_mechanism_controllers" type="control_laser.py" args="tilt_laser_controller sine 1 .45 .40" />
+    <!--node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 20 0.872 0.3475" respawn="false" output="screen" /-->
+    <node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 1 .45 .40" />
 </launch>
 

Modified: pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_controllers.launch
===================================================================
--- pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_controllers.launch	2008-11-21 00:41:30 UTC (rev 7098)
+++ pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_controllers.launch	2008-11-21 00:43:42 UTC (rev 7099)
@@ -2,10 +2,10 @@
     <!-- use mech.py to spawn all controllers listed in controllers.xml -->
     <param name="base_controller/odom_publish_rate" value="10" />
     <node pkg="mechanism_control" type="mech.py" args="sp $(find wg_robot_description)/pr2_prototype1/controllers_base_lab.xml" output="screen"/>
-    <node pkg="mechanism_control" type="mech.py" args="sp $(find wg_robot_description)/pr2_prototype1/controllers_head_tilt_laser_torso_gazebo.xml" output="screen"/>
+    <node pkg="mechanism_control" type="mech.py" args="sp $(find wg_robot_description)/pr2_prototype1/controllers_head_laser_tilt_torso_gazebo.xml" output="screen"/>
     <!-- start tilting Hokuyo laser by sending it a preset code of 46, this means sawtooth profile sweep.
          for details of the profile, rates, see controller::LaserScannerControllerNode. -->
-    <!--node pkg="pr2_mechanism_controllers" type="control_laser.py" args="tilt_laser_controller sine 20 0.872 0.3475" respawn="false" output="screen" /-->
-    <node pkg="pr2_mechanism_controllers" type="control_laser.py" args="tilt_laser_controller sine 1 .45 .40" />
+    <!--node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 20 0.872 0.3475" respawn="false" output="screen" /-->
+    <node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 1 .45 .40" />
 </launch>
 

Modified: pkg/trunk/manip/teleop_arm_keyboard/teleop_arm_keyboard.cc
===================================================================
--- pkg/trunk/manip/teleop_arm_keyboard/teleop_arm_keyboard.cc	2008-11-21 00:41:30 UTC (rev 7098)
+++ pkg/trunk/manip/teleop_arm_keyboard/teleop_arm_keyboard.cc	2008-11-21 00:43:42 UTC (rev 7099)
@@ -75,27 +75,27 @@
 
 #define COMMAND_TIMEOUT_SEC 0.2
 
-#define LINKL0 "left_shoulder_pan_joint"
-#define LINKL1 "left_shoulder_lift_joint"
-#define LINKL2 "left_upper_arm_roll_joint"
-#define LINKL3 "left_elbow_flex_joint"
-#define LINKL4 "left_forearm_roll_joint"
-#define LINKL5 "left_wrist_flex_joint"
-#define LINKL6 "left_wrist_roll_joint"
-#define LINKL7 "left_gripper_joint"
-#define LINKR0 "right_shoulder_pan_joint"
-#define LINKR1 "right_shoulder_lift_joint"
-#define LINKR2 "right_upper_arm_roll_joint"
-#define LINKR3 "right_elbow_flex_joint"
-#define LINKR4 "right_forearm_roll_joint"
-#define LINKR5 "right_wrist_flex_joint"
-#define LINKR6 "right_wrist_roll_joint"
-#define LINKR7 "right_gripper_joint"
+#define LINKL0 "l_shoulder_pan_joint"
+#define LINKL1 "l_shoulder_lift_joint"
+#define LINKL2 "l_upper_arm_roll_joint"
+#define LINKL3 "l_elbow_flex_joint"
+#define LINKL4 "l_forearm_roll_joint"
+#define LINKL5 "l_wrist_flex_joint"
+#define LINKL6 "l_wrist_roll_joint"
+#define LINKL7 "l_gripper_joint"
+#define LINKR0 "r_shoulder_pan_joint"
+#define LINKR1 "r_shoulder_lift_joint"
+#define LINKR2 "r_upper_arm_roll_joint"
+#define LINKR3 "r_elbow_flex_joint"
+#define LINKR4 "r_forearm_roll_joint"
+#define LINKR5 "r_wrist_flex_joint"
+#define LINKR6 "r_wrist_roll_joint"
+#define LINKR7 "r_gripper_joint"
 
 #define LEFT_ARM_COMMAND_TOPIC "left_arm_commands"
 #define RIGHT_ARM_COMMAND_TOPIC "right_arm_commands"
-#define LEFT_GRIPPER_COMMAND_TOPIC "gripper_left_controller/set_command"
-#define RIGHT_GRIPPER_COMMAND_TOPIC "gripper_right_controller/set_command"
+#define LEFT_GRIPPER_COMMAND_TOPIC "l_gripper_controller/set_command"
+#define RIGHT_GRIPPER_COMMAND_TOPIC "r_gripper_controller/set_command"
 #define JOINT_STEP_SIZE   5*M_PI/180
 #define GRIPPER_STEP_SIZE 1*M_PI/180
 


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