[Personalrobots-commit] SF.net SVN: personalrobots:[7492] pkg/trunk

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

Revision: 7492
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=7492&view=rev
Author:   hsujohnhsu
Date:     2008-12-03 01:46:41 +0000 (Wed, 03 Dec 2008)

Log Message:
-----------
added pendulum test with no x and moved x-less tests to non_future.

Modified Paths:
--------------
    pkg/trunk/drivers/simulator/gazebo_plugin/CMakeLists.txt
    pkg/trunk/drivers/simulator/gazebo_plugin/test/testpendulum.xml

Added Paths:
-----------
    pkg/trunk/demos/examples_gazebo/dual_link_no_x.xml

Added: pkg/trunk/demos/examples_gazebo/dual_link_no_x.xml
===================================================================
--- pkg/trunk/demos/examples_gazebo/dual_link_no_x.xml	                        (rev 0)
+++ pkg/trunk/demos/examples_gazebo/dual_link_no_x.xml	2008-12-03 01:46:41 UTC (rev 7492)
@@ -0,0 +1,20 @@
+<launch>
+  <group name="wg">
+    <!-- send dual_link.xml to param server -->
+    <include file="$(find wg_robot_description)/dual_link_test/send_description.launch" />
+
+    <!-- start gazebo -->
+    <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>
+  </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/drivers/simulator/gazebo_plugin/CMakeLists.txt
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/CMakeLists.txt	2008-12-03 01:42:33 UTC (rev 7491)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/CMakeLists.txt	2008-12-03 01:46:41 UTC (rev 7492)
@@ -8,6 +8,7 @@
 
 #add_definitions(-Wall -DNDEBUG -O3)
 set(ROS_BUILD_TYPE Release)
+#set(ROS_BUILD_TYPE Debug)
 
 rospack_add_library(Ros_Stereo_Camera src/Ros_Stereo_Camera.cc)
 rospack_add_library(Ros_Camera src/Ros_Camera.cc)
@@ -24,12 +25,13 @@
 #rospack_add_executable(player_pr2 src/player/Pr2_Player.cc)
 #target_link_libraries(player_pr2 playerc++)
 
-rospack_add_rostest_future(test/testslide.xml)
+rospack_add_rostest(test/testslide.xml)
+rospack_add_rostest(test/testbase.xml)
+rospack_add_rostest(test/testarm.xml)
+rospack_add_rostest(test/testpendulum.xml)
+
 rospack_add_rostest_future(test/testcameras.xml)
 rospack_add_rostest_future(test/testscan.xml)
-rospack_add_rostest_future(test/testbase.xml)
-rospack_add_rostest_future(test/testarm.xml)
-rospack_add_rostest_future(test/testpendulum.xml)
 rospack_add_rostest_future(test/hztest.xml)
 rospack_add_rostest_future(test/odom_hztest.xml)
 rospack_add_rostest_future(test/rostime_hztest.xml)

Modified: pkg/trunk/drivers/simulator/gazebo_plugin/test/testpendulum.xml
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/test/testpendulum.xml	2008-12-03 01:42:33 UTC (rev 7491)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/test/testpendulum.xml	2008-12-03 01:46:41 UTC (rev 7492)
@@ -2,7 +2,7 @@
 <launch>
   <group name="wg">
     <!-- send single_link.xml to param server -->
-    <include file="$(find examples_gazebo)/dual_link.xml" />
+    <include file="$(find examples_gazebo)/dual_link_no_x.xml" />
 
     <!--<node pkg="gazebo_plugin" type="groundtruthtransform" args="" respawn="true" />-->
     <test test-name="gazebo_plugin_testpendulum" pkg="gazebo_plugin" type="testpendulum.py" />


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