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[Personalrobots-commit] SF.net SVN: personalrobots:[7434] pkg/trunk
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From: <hsu...@us...> - 2008-12-02 01:27:24
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Revision: 7434
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=7434&view=rev
Author: hsujohnhsu
Date: 2008-12-02 01:27:21 +0000 (Tue, 02 Dec 2008)
Log Message:
-----------
* renamed pr2.launch to pr2_simple.launch in pr2_gazebo.
* renamed pr2_prototype1.launch to pr2_prototype1_wg.launch in pr2_prototype1_gazebo.
* update launc_gazebo.xml and launch_gazebo_obstacle.xml in executive_trex_pr2/cfg.
* added test_gazebo.xml executive_trex_pr2/wpc.0.
* added 2dnav-gazebo-prototype1-simple* in 2dnav_gazebo.
Modified Paths:
--------------
pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-fake_localization.xml
pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg.xml
pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple-fake_localization.xml
pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple.xml
pkg/trunk/demos/2dnav_gazebo/doc.dox
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/cfg/launch_gazebo.xml
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/cfg/launch_gazebo_obstacle.xml
Added Paths:
-----------
pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-simple-fake_localization.xml
pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-simple.xml
pkg/trunk/demos/pr2_gazebo/pr2_simple.launch
pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_obs.launch
pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_wg.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc.0/test_gazebo.xml
Removed Paths:
-------------
pkg/trunk/demos/pr2_gazebo/pr2.launch
pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1.launch
Added: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-simple-fake_localization.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-simple-fake_localization.xml (rev 0)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-simple-fake_localization.xml 2008-12-02 01:27:21 UTC (rev 7434)
@@ -0,0 +1,23 @@
+<launch>
+ <master auto="start"/>
+ <group name="wg">
+ <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_simple.launch"/>
+ <include file="$(find 2dnav_gazebo)/2dnav-params.xml"/>
+
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/map3.png 0.1" respawn="false" output="screen" />
+ <node pkg="fake_localization" type="fake_localization" respawn="false" output="screen" />
+ <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
+ <node pkg="world_3d_map" type="world_3d_map" args="/robotdesc/pr2 scan:=tilt_scan cloud:=full_cloud" respawn="false" />
+
+ <!--node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" /-->
+ <node pkg="highlevel_controllers" type="move_base_sbpl" args="cloud:=world_3d_map" respawn="false"/>
+
+ <!-- for visualization -->
+ <!--node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" /-->
+
+ <!-- for manual control -->
+ <!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
+ <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
+ </group>
+</launch>
+
Added: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-simple.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-simple.xml (rev 0)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-simple.xml 2008-12-02 01:27:21 UTC (rev 7434)
@@ -0,0 +1,23 @@
+<launch>
+ <master auto="start"/>
+ <group name="wg">
+ <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_simple.launch"/>
+ <include file="$(find 2dnav_gazebo)/2dnav-params.xml"/>
+
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/map3.png 0.1" respawn="false" output="screen" />
+ <node pkg="amcl_player" type="amcl_player" args="scan:=base_scan" respawn="false" />
+ <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
+ <node pkg="world_3d_map" type="world_3d_map" args="/robotdesc/pr2 scan:=tilt_scan cloud:=full_cloud" respawn="false" />
+
+ <!--node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" /-->
+ <node pkg="highlevel_controllers" type="move_base_sbpl" args="cloud:=world_3d_map" respawn="false"/>
+
+ <!-- for visualization -->
+ <!--node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" /-->
+
+ <!-- for manual control -->
+ <!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
+ <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
+ </group>
+</launch>
+
Modified: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-fake_localization.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-fake_localization.xml 2008-12-02 01:11:00 UTC (rev 7433)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-fake_localization.xml 2008-12-02 01:27:21 UTC (rev 7434)
@@ -1,7 +1,7 @@
<launch>
<master auto="start"/>
<group name="wg">
- <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1.launch"/>
+ <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_wg.launch"/>
<include file="$(find 2dnav_gazebo)/2dnav-params.xml"/>
<node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/willowMap.png 0.1" respawn="false" output="screen" />
Modified: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg.xml 2008-12-02 01:11:00 UTC (rev 7433)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg.xml 2008-12-02 01:27:21 UTC (rev 7434)
@@ -1,7 +1,7 @@
<launch>
<master auto="start"/>
<group name="wg">
- <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1.launch"/>
+ <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_wg.launch"/>
<include file="$(find 2dnav_gazebo)/2dnav-params.xml"/>
<node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/willowMap.png 0.1" respawn="false" output="screen" />
Modified: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple-fake_localization.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple-fake_localization.xml 2008-12-02 01:11:00 UTC (rev 7433)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple-fake_localization.xml 2008-12-02 01:27:21 UTC (rev 7434)
@@ -1,7 +1,7 @@
<launch>
<master auto="start"/>
<group name="wg">
- <!--include file="$(find pr2_gazebo)/pr2.launch"/-->
+ <!--include file="$(find pr2_gazebo)/pr2_simple.launch"/-->
<include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_simple.launch"/>
<include file="$(find 2dnav_gazebo)/2dnav-params.xml"/>
Modified: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple.xml 2008-12-02 01:11:00 UTC (rev 7433)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple.xml 2008-12-02 01:27:21 UTC (rev 7434)
@@ -1,7 +1,7 @@
<launch>
<master auto="start"/>
<group name="wg">
- <!--include file="$(find pr2_gazebo)/pr2.launch"/-->
+ <!--include file="$(find pr2_gazebo)/pr2_simple.launch"/-->
<include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_simple.launch"/>
<include file="$(find 2dnav_gazebo)/2dnav-params.xml"/>
Modified: pkg/trunk/demos/2dnav_gazebo/doc.dox
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/doc.dox 2008-12-02 01:11:00 UTC (rev 7433)
+++ pkg/trunk/demos/2dnav_gazebo/doc.dox 2008-12-02 01:27:21 UTC (rev 7434)
@@ -21,7 +21,7 @@
<master auto="start"/>
<group name="wg">
<!-- this is another script that starts up a simple world with PR2 in it -->
- <include file="$(find pr2_gazebo)/pr2.launch"/>
+ <include file="$(find pr2_gazebo)/pr2_simple.launch"/>
<node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/map3.png 0.1" respawn="false" output="screen" />
<node pkg="amcl_player" type="amcl_player" args="scan:=base_scan" respawn="false" output="screen" />
<node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
Deleted: pkg/trunk/demos/pr2_gazebo/pr2.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2.launch 2008-12-02 01:11:00 UTC (rev 7433)
+++ pkg/trunk/demos/pr2_gazebo/pr2.launch 2008-12-02 01:27:21 UTC (rev 7434)
@@ -1,22 +0,0 @@
-<launch>
- <!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/wg_robot_description/pr2 -->
- <group name="wg">
- <!-- send pr2.xml to param server -->
- <include file="$(find wg_robot_description)/pr2/send_description.launch" />
-
- <!-- start gazebo -->
- <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/simple.world" respawn="false" output="screen">
- <env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(find boost)/boost/lib:$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="$(find gazebo_robot_description)/world" />
- </node>
-
- <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" /> <!-- load default arm controller -->
-
- <!-- load controllers -->
- <include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
- </group>
-</launch>
-
Copied: pkg/trunk/demos/pr2_gazebo/pr2_simple.launch (from rev 7426, pkg/trunk/demos/pr2_gazebo/pr2.launch)
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_simple.launch (rev 0)
+++ pkg/trunk/demos/pr2_gazebo/pr2_simple.launch 2008-12-02 01:27:21 UTC (rev 7434)
@@ -0,0 +1,22 @@
+<launch>
+ <!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/wg_robot_description/pr2 -->
+ <group name="wg">
+ <!-- send pr2.xml to param server -->
+ <include file="$(find wg_robot_description)/pr2/send_description.launch" />
+
+ <!-- start gazebo -->
+ <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/simple.world" respawn="false" output="screen">
+ <env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(find boost)/boost/lib:$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="$(find gazebo_robot_description)/world" />
+ </node>
+
+ <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" /> <!-- load default arm controller -->
+
+ <!-- load controllers -->
+ <include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
+ </group>
+</launch>
+
Deleted: pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1.launch
===================================================================
--- pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1.launch 2008-12-02 01:11:00 UTC (rev 7433)
+++ pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1.launch 2008-12-02 01:27:21 UTC (rev 7434)
@@ -1,25 +0,0 @@
-<launch>
- <!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/wg_robot_description/pr2 -->
- <!-- if needed, group tag allows pushing components into namespace via ns="namespace" -->
- <group name="wg">
-
- <!-- send pr2.xml to parameter server as a string, allow retrieval by various components whe needs it
- (Mechanism Control, BaseControllerNode, etc...) -->
- <include file="$(find wg_robot_description)/pr2_prototype1/send_description.xml" />
-
- <!-- assign environment variables for gazebo and startup gazebo with argument containing the world file. -->
- <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/wg.world" respawn="false" output="screen">
- <env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(find boost)/boost/lib:$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="$(find gazebo_robot_description)/world" />
- </node>
-
- <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" /> <!-- load default arm controller -->
-
- <!-- use mech.py to spawn all controllers listed in controllers.xml -->
- <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_controllers.launch" />
- </group>
-</launch>
-
Added: pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_obs.launch
===================================================================
--- pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_obs.launch (rev 0)
+++ pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_obs.launch 2008-12-02 01:27:21 UTC (rev 7434)
@@ -0,0 +1,21 @@
+<launch>
+ <group name="wg">
+ <!-- send pr2.xml to param server -->
+ <include file="$(find wg_robot_description)/pr2_prototype1/send_description.xml" />
+
+ <!-- start gazebo -->
+ <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/obstacle.world" respawn="false" output="screen">
+ <env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(find boost)/boost/lib:$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="$(find gazebo_robot_description)/world" />
+ </node>
+
+ <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" /> <!-- load default arm controller -->
+
+ <!-- load controllers -->
+ <include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
+ </group>
+</launch>
+
Copied: pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_wg.launch (from rev 7426, pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1.launch)
===================================================================
--- pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_wg.launch (rev 0)
+++ pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_wg.launch 2008-12-02 01:27:21 UTC (rev 7434)
@@ -0,0 +1,25 @@
+<launch>
+ <!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/wg_robot_description/pr2 -->
+ <!-- if needed, group tag allows pushing components into namespace via ns="namespace" -->
+ <group name="wg">
+
+ <!-- send pr2.xml to parameter server as a string, allow retrieval by various components whe needs it
+ (Mechanism Control, BaseControllerNode, etc...) -->
+ <include file="$(find wg_robot_description)/pr2_prototype1/send_description.xml" />
+
+ <!-- assign environment variables for gazebo and startup gazebo with argument containing the world file. -->
+ <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/wg.world" respawn="false" output="screen">
+ <env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(find boost)/boost/lib:$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="$(find gazebo_robot_description)/world" />
+ </node>
+
+ <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" /> <!-- load default arm controller -->
+
+ <!-- use mech.py to spawn all controllers listed in controllers.xml -->
+ <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_controllers.launch" />
+ </group>
+</launch>
+
Modified: pkg/trunk/highlevel/executive_trex/executive_trex_pr2/cfg/launch_gazebo.xml
===================================================================
--- pkg/trunk/highlevel/executive_trex/executive_trex_pr2/cfg/launch_gazebo.xml 2008-12-02 01:11:00 UTC (rev 7433)
+++ pkg/trunk/highlevel/executive_trex/executive_trex_pr2/cfg/launch_gazebo.xml 2008-12-02 01:27:21 UTC (rev 7434)
@@ -2,6 +2,8 @@
<master auto="start"/>
<group name="wg">
+ <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_simple.launch"/>
+
<node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/map3.png 0.1" respawn="false" />
<node pkg="fake_localization" type="fake_localization" respawn="false" output="screen" />
Modified: pkg/trunk/highlevel/executive_trex/executive_trex_pr2/cfg/launch_gazebo_obstacle.xml
===================================================================
--- pkg/trunk/highlevel/executive_trex/executive_trex_pr2/cfg/launch_gazebo_obstacle.xml 2008-12-02 01:11:00 UTC (rev 7433)
+++ pkg/trunk/highlevel/executive_trex/executive_trex_pr2/cfg/launch_gazebo_obstacle.xml 2008-12-02 01:27:21 UTC (rev 7434)
@@ -3,7 +3,7 @@
<group name="wg">
<!-- startup Gazebo with robot and default mechanism controllers -->
- <include file="$(find pr2_gazebo)/pr2_obs.launch"/>
+ <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_obs.launch"/>
<node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/map3.png 0.1" respawn="false" />
Added: pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc.0/test_gazebo.xml
===================================================================
--- pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc.0/test_gazebo.xml (rev 0)
+++ pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc.0/test_gazebo.xml 2008-12-02 01:27:21 UTC (rev 7434)
@@ -0,0 +1,10 @@
+<launch>
+ <master auto="start"/>
+ <include file="$(find executive_trex_pr2)/cfg/launch_gazebo.xml" />
+ <param name="/trex/input_file" value="nav.cfg"/>
+ <param name="/trex/path" value="$(find executive_trex_pr2)/cfg:$(find executive_trex_pr2)/wpc.0"/>
+ <param name="/trex/time_limit" value="20"/>
+ <param name="/trex/log_dir" value="$(find executive_trex_pr2)/wpc.0"/>
+ <param name="/trex/play_back" value="0"/>
+ <test test-name="executive_trex_wpc.0" pkg="executive_trex_pr2" type="trexdebug" time-limit="40"/>
+</launch>
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