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[Personalrobots-commit] SF.net SVN: personalrobots:[7138] pkg/trunk
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From: <hsu...@us...> - 2008-11-21 17:39:47
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Revision: 7138
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=7138&view=rev
Author: hsujohnhsu
Date: 2008-11-21 17:39:41 +0000 (Fri, 21 Nov 2008)
Log Message:
-----------
* update texture for wheels due to naming convention for visualizers.
* update arm controller files, moved them to demos for gazebo directory.
Modified Paths:
--------------
pkg/trunk/demos/arm_gazebo/arm.launch
pkg/trunk/demos/pr2_gazebo/pr2_default_controllers.launch
pkg/trunk/robot_descriptions/gazebo_robot_description/world/Media/materials/scripts/pr2.material
Added Paths:
-----------
pkg/trunk/demos/arm_gazebo/l_arm_default_controller.xml
pkg/trunk/demos/arm_gazebo/r_arm_default_controller.xml
Modified: pkg/trunk/demos/arm_gazebo/arm.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/arm.launch 2008-11-21 17:33:13 UTC (rev 7137)
+++ pkg/trunk/demos/arm_gazebo/arm.launch 2008-11-21 17:39:41 UTC (rev 7138)
@@ -14,10 +14,14 @@
<!-- 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)/pr2_arm_test/controllers_arm.xml" respawn="false" output="screen" /> <!-- load default arm controller -->
+ <!-- start arm controller -->
+ <node pkg="mechanism_control" type="mech.py" args="sp $(find arm_gazebo)/l_arm_default_controller.xml" respawn="false" output="screen" /> <!-- load default arm controller -->
+
+ <!-- send arm a command -->
<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" /-->
+
+ <!-- for visualization -->
+ <node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" />
</group>
</launch>
Added: pkg/trunk/demos/arm_gazebo/l_arm_default_controller.xml
===================================================================
--- pkg/trunk/demos/arm_gazebo/l_arm_default_controller.xml (rev 0)
+++ pkg/trunk/demos/arm_gazebo/l_arm_default_controller.xml 2008-11-21 17:39:41 UTC (rev 7138)
@@ -0,0 +1,70 @@
+<?xml version="1.0"?>
+<controllers>
+ <!-- left arm array -->
+ <!--
+ <controller name="left_arm_controller" type="LQRControllerNode">
+ <model name="serial_chain">
+ <robot_description>pr2</robot_description>
+ <kinematics>left_arm</kinematics>
+ <joints>
+ <joint name="l_shoulder_pan_joint"/>
+ <joint name="l_shoulder_lift_joint"/>
+ <joint name="l_upper_arm_roll_joint"/>
+ <joint name="l_elbow_flex_joint"/>
+ <joint name="l_forearm_roll_joint"/>
+ <joint name="l_wrist_flex_joint"/>
+ <joint name="l_wrist_roll_joint"/>
+ </joints>
+ </model>
+ </controller> -->
+
+ <controller name="left_arm_controller" type="ArmPositionControllerNode">
+ <listen_topic name="left_arm_commands" />
+ <kinematics>
+ <elem key="kdl_chain_name">left_arm</elem>
+ </kinematics>
+ <map name="controller_param">
+ <elem key="kdl_chain_name">left_arm</elem>
+ </map>
+ <controller name="l_shoulder_pan_controller" topic="l_shoulder_pan_controller" type="JointPositionController">
+ <joint name="l_shoulder_pan_joint" >
+ <pid p="100" d="200" i="0.1" iClamp="1" />
+ </joint>
+ </controller>
+ <controller name="l_shoulder_lift_controller" topic="l_shoulder_lift_controller" type="JointPositionController">
+ <joint name="l_shoulder_lift_joint" >
+ <pid p="100" d="100.0" i="0.1" iClamp="1" />
+ </joint>
+ </controller>
+ <controller name="l_upper_arm_roll_controller" topic="l_upper_arm_roll_controller" type="JointPositionController">
+ <joint name="l_upper_arm_roll_joint" >
+ <pid p="400" d="400" i="0.1" iClamp="1" />
+ </joint>
+ </controller>
+ <controller name="l_elbow_flex_controller" topic="l_elbow_flex_controller" type="JointPositionController">
+ <joint name="l_elbow_flex_joint" >
+ <pid p="100" d="100" i="0.1" iClamp="1" />
+ </joint>
+ </controller>
+ <controller name="l_forearm_roll_controller" topic="l_forearm_roll_controller" type="JointPositionController">
+ <joint name="l_forearm_roll_joint" >
+ <pid p="200" d="200" i="0.1" iClamp="1" />
+ </joint>
+ </controller>
+ <controller name="l_wrist_flex_controller" topic="l_wrist_flex_controller" type="JointPositionController">
+ <joint name="l_wrist_flex_joint" >
+ <pid p="100" d="100" i="0.1" iClamp="1" />
+ </joint>
+ </controller>
+ <controller name="l_wrist_roll_controller" topic="l_wrist_roll_controller" type="JointPositionController">
+ <joint name="l_wrist_roll_joint" >
+ <pid p="100" d="100" i="0.1" iClamp="0" />
+ </joint>
+ </controller>
+ </controller>
+ <controller name="l_gripper_controller" topic="l_gripper_controller" type="JointPositionControllerNode">
+ <joint name="l_gripper_l_finger_joint">
+ <pid p="1.0" d="0.00" i="0.00" iClamp="0.00" />
+ </joint>
+ </controller>
+</controllers>
Added: pkg/trunk/demos/arm_gazebo/r_arm_default_controller.xml
===================================================================
--- pkg/trunk/demos/arm_gazebo/r_arm_default_controller.xml (rev 0)
+++ pkg/trunk/demos/arm_gazebo/r_arm_default_controller.xml 2008-11-21 17:39:41 UTC (rev 7138)
@@ -0,0 +1,70 @@
+<?xml version="1.0"?>
+<controllers>
+ <!-- right arm array -->
+ <!--
+ <controller name="right_arm_controller" type="LQRControllerNode">
+ <model name="serial_chain">
+ <robot_description>pr2</robot_description>
+ <kinematics>right_arm</kinematics>
+ <joints>
+ <joint name="r_shoulder_pan_joint"/>
+ <joint name="r_shoulder_lift_joint"/>
+ <joint name="r_upper_arm_roll_joint"/>
+ <joint name="r_elbow_flex_joint"/>
+ <joint name="r_forearm_roll_joint"/>
+ <joint name="r_wrist_flex_joint"/>
+ <joint name="r_wrist_roll_joint"/>
+ </joints>
+ </model>
+ </controller> -->
+
+ <controller name="right_arm_controller" type="ArmPositionControllerNode">
+ <listen_topic name="right_arm_commands" />
+ <kinematics>
+ <elem key="kdl_chain_name">right_arm</elem>
+ </kinematics>
+ <map name="controller_param">
+ <elem key="kdl_chain_name">right_arm</elem>
+ </map>
+ <controller name="r_shoulder_pan_controller" topic="r_shoulder_pan_controller" type="JointPositionController">
+ <joint name="r_shoulder_pan_joint" >
+ <pid p="100" d="200" i="0.1" iClamp="1" />
+ </joint>
+ </controller>
+ <controller name="r_shoulder_lift_controller" topic="r_shoulder_lift_controller" type="JointPositionController">
+ <joint name="r_shoulder_lift_joint" >
+ <pid p="100" d="100.0" i="0.1" iClamp="1" />
+ </joint>
+ </controller>
+ <controller name="r_upper_arm_roll_controller" topic="r_upper_arm_roll_controller" type="JointPositionController">
+ <joint name="r_upper_arm_roll_joint" >
+ <pid p="400" d="400" i="0.1" iClamp="1" />
+ </joint>
+ </controller>
+ <controller name="r_elbow_flex_controller" topic="r_elbow_flex_controller" type="JointPositionController">
+ <joint name="r_elbow_flex_joint" >
+ <pid p="100" d="100" i="0.1" iClamp="1" />
+ </joint>
+ </controller>
+ <controller name="r_forearm_roll_controller" topic="r_forearm_roll_controller" type="JointPositionController">
+ <joint name="r_forearm_roll_joint" >
+ <pid p="200" d="200" i="0.1" iClamp="1" />
+ </joint>
+ </controller>
+ <controller name="r_wrist_flex_controller" topic="r_wrist_flex_controller" type="JointPositionController">
+ <joint name="r_wrist_flex_joint" >
+ <pid p="100" d="100" i="0.1" iClamp="1" />
+ </joint>
+ </controller>
+ <controller name="r_wrist_roll_controller" topic="r_wrist_roll_controller" type="JointPositionController">
+ <joint name="r_wrist_roll_joint" >
+ <pid p="100" d="100" i="0.1" iClamp="0" />
+ </joint>
+ </controller>
+ </controller>
+ <controller name="r_gripper_controller" topic="r_gripper_controller" type="JointPositionControllerNode">
+ <joint name="r_gripper_l_finger_joint">
+ <pid p="1.0" d="0.00" i="0.00" iClamp="0.00" />
+ </joint>
+ </controller>
+</controllers>
Modified: pkg/trunk/demos/pr2_gazebo/pr2_default_controllers.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_default_controllers.launch 2008-11-21 17:33:13 UTC (rev 7137)
+++ pkg/trunk/demos/pr2_gazebo/pr2_default_controllers.launch 2008-11-21 17:39:41 UTC (rev 7138)
@@ -1,7 +1,14 @@
<launch>
<param name="base_controller/odom_publish_rate" value="10" />
- <node pkg="mechanism_control" type="mech.py" args="sp $(find pr2_gazebo)/controllers_2dnav_test.xml" respawn="false" output="screen" />
+ <!--node pkg="mechanism_control" type="mech.py" args="sp $(find pr2_gazebo)/controllers_2dnav_test.xml" respawn="false" output="screen" /-->
+ <node pkg="mechanism_control" type="mech.py" args="sp $(find arm_gazebo)/l_arm_default_controller.xml" respawn="false" output="screen" /> <!-- load default arm controller -->
+ <node pkg="mechanism_control" type="mech.py" args="sp $(find arm_gazebo)/r_arm_default_controller.xml" respawn="false" output="screen" /> <!-- load default arm controller -->
+ <!--node pkg="mechanism_control" type="mech.py" args="sp $(find wg_robot_description)/pr2_prototype1/controllers_base_lab.xml" output="screen"/-->
+ <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_alpha)/controllers_base_lab.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"/>
+
+ <!-- send laser tilt motor a command -->
<!--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/robot_descriptions/gazebo_robot_description/world/Media/materials/scripts/pr2.material
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/Media/materials/scripts/pr2.material 2008-11-21 17:33:13 UTC (rev 7137)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/Media/materials/scripts/pr2.material 2008-11-21 17:39:41 UTC (rev 7138)
@@ -58,7 +58,7 @@
-material PR2/wheel_front_right_l
+material PR2/fr_caster_l_wheel_link
{
technique
{
@@ -72,7 +72,7 @@
}
}
-material PR2/wheel_front_left_l
+material PR2/fl_caster_l_wheel_link
{
technique
{
@@ -85,7 +85,7 @@
}
}
}
-material PR2/wheel_rear_right_l
+material PR2/br_caster_l_wheel_link
{
technique
{
@@ -99,7 +99,7 @@
}
}
-material PR2/wheel_rear_left_l
+material PR2/bl_caster_l_wheel_link
{
technique
{
@@ -114,7 +114,7 @@
}
-material PR2/wheel_front_right_r
+material PR2/fr_caster_r_wheel_link
{
technique
{
@@ -128,7 +128,7 @@
}
}
-material PR2/wheel_front_left_r
+material PR2/fl_caster_r_wheel_link
{
technique
{
@@ -141,7 +141,7 @@
}
}
}
-material PR2/wheel_rear_right_r
+material PR2/br_caster_r_wheel_link
{
technique
{
@@ -155,7 +155,7 @@
}
}
-material PR2/wheel_rear_left_r
+material PR2/bl_caster_r_wheel_link
{
technique
{
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