[Personalrobots-commit] SF.net SVN: personalrobots:[7490] pkg/trunk

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

Revision: 7490
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=7490&view=rev
Author:   hsujohnhsu
Date:     2008-12-03 01:37:19 +0000 (Wed, 03 Dec 2008)

Log Message:
-----------
arm test without x server.

Modified Paths:
--------------
    pkg/trunk/drivers/simulator/gazebo_plugin/test/testarm.xml

Added Paths:
-----------
    pkg/trunk/demos/arm_gazebo/arm_no_x.launch

Added: pkg/trunk/demos/arm_gazebo/arm_no_x.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/arm_no_x.launch	                        (rev 0)
+++ pkg/trunk/demos/arm_gazebo/arm_no_x.launch	2008-12-03 01:37:19 UTC (rev 7490)
@@ -0,0 +1,27 @@
+<launch>
+  <group name="wg">
+    <!-- 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 -->
+    <node pkg="gazebo" type="gazebo" args="-r $(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
+      <env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(find boost)/boost/lib:$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 -->
+
+    <!-- start arm controller -->
+    <!--node pkg="mechanism_control" type="mech.py" args="sp $(find arm_gazebo)/controllers.xml" respawn="false"  /--> <!-- 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 -->
+    <!-- node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" / -->
+  </group>
+</launch>
+

Modified: pkg/trunk/drivers/simulator/gazebo_plugin/test/testarm.xml
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/test/testarm.xml	2008-12-03 01:26:39 UTC (rev 7489)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/test/testarm.xml	2008-12-03 01:37:19 UTC (rev 7490)
@@ -2,7 +2,7 @@
   <master auto="start" />
 
     <!-- send single_link.xml to param server -->
-    <include file="$(find arm_gazebo)/arm.launch" />
+    <include file="$(find arm_gazebo)/arm_no_x.launch" />
 
     <!-- start arm controller -->
     <node pkg="mechanism_control" type="mech.py" args="sp $(find arm_gazebo)/l_arm_default_controller.xml" respawn="false"  /> <!-- load default arm controller -->


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