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[Personalrobots-commit] SF.net SVN: personalrobots:[7532] pkg/trunk
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From: <hsu...@us...> - 2008-12-03 23:00:41
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Revision: 7532
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=7532&view=rev
Author: hsujohnhsu
Date: 2008-12-03 23:00:36 +0000 (Wed, 03 Dec 2008)
Log Message:
-----------
* added test wpc_gazebo.0, similar to wpc.0 but in 3D.
* updated initial position of robot in gazebo prototype1 wg.
Modified Paths:
--------------
pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_wg.launch
Added Paths:
-----------
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/launch_gazebo_prototype1_wg.xml
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/nav_gazebo.cfg
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/pr2.exec.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/run_gazebo.xml
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/test_gazebo.xml
Removed Paths:
-------------
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc.0/test_gazebo.xml
Modified: pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_wg.launch
===================================================================
--- pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_wg.launch 2008-12-03 22:50:05 UTC (rev 7531)
+++ pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_wg.launch 2008-12-03 23:00:36 UTC (rev 7532)
@@ -16,7 +16,7 @@
</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 -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 -5 -15 0 0 0 90" respawn="false" output="screen" /> <!-- load default arm controller -->
<!-- use mech.py to spawn all controllers listed in controllers.xml -->
<include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_controllers.launch" />
Deleted: pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc.0/test_gazebo.xml
===================================================================
--- pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc.0/test_gazebo.xml 2008-12-03 22:50:05 UTC (rev 7531)
+++ pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc.0/test_gazebo.xml 2008-12-03 23:00:36 UTC (rev 7532)
@@ -1,10 +0,0 @@
-<launch>
- <master auto="start"/>
- <include file="$(find executive_trex_pr2)/cfg/launch_gazebo_prototype1.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="$(find executive_trex_pr2)/wpc.0"/>
- <param name="/trex/play_back" value="0"/>
- <test test-name="executive_trex_wpc.0" pkg="executive_trex_pr2" type="trexdebug" time-limit="40"/>
-</launch>
Added: pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/launch_gazebo_prototype1_wg.xml
===================================================================
--- pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/launch_gazebo_prototype1_wg.xml (rev 0)
+++ pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/launch_gazebo_prototype1_wg.xml 2008-12-03 23:00:36 UTC (rev 7532)
@@ -0,0 +1,28 @@
+<launch>
+ <master auto="start"/>
+ <group name="wg">
+
+ <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_wg.launch"/>
+
+ <!-- Common parameter settings /-->
+ <param name="/trex/ping_frequency" value="1"/>
+
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/willowMap.png 0.1" respawn="false" />
+
+ <node pkg="fake_localization" type="fake_localization" respawn="false" output="screen" />
+
+ <node pkg="highlevel_controllers" type="move_base_sbpl" args="" respawn="false" />
+ <node pkg="highlevel_controllers" type="recharge_controller" args="" respawn="false" />
+
+ <!--
+ <node pkg="kinematic_planning" type="kinematic_planning" args="robotdesc/pr2"/>
+ <include file="$(find world_3d_map)/run.xml"/>
+ <node pkg="highlevel_controllers" type="move_arm" args="right" respawn="false"/>
+ <node pkg="highlevel_controllers" type="move_arm" args="left" respawn="false" />
+ <node pkg="highlevel_controllers" type="move_end_effector" args="right" respawn="false"/>
+ -->
+
+ <node pkg="nav_view" type="nav_view" respawn="false" />
+
+ </group>
+</launch>
Added: pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/nav_gazebo.cfg
===================================================================
--- pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/nav_gazebo.cfg (rev 0)
+++ pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/nav_gazebo.cfg 2008-12-03 23:00:36 UTC (rev 7532)
@@ -0,0 +1,12 @@
+<!-- This is a TREX configuration file for a TREX Agent running with base control only. Use for navigation test cases. -->
+<Agent name="pr2" finalTick="forever">
+ <!-- The executive handles top-level planning and execution. Should have the lookead scope of the entire mission. -->
+ <TeleoReactor name="exec" component="DeliberativeReactor" lookAhead="300" latency="10" solverConfig="exec.solver.cfg"/>
+
+ <!-- ROS Adapters -->
+ <TeleoReactor name="baseStateAdapter" component="BaseStateAdapter" timelineName="baseState" timelineType="BaseState" stateTopic="localizedpose" />
+ <TeleoReactor name="baseControllerAdapter" component="BaseControllerAdapter" timelineName="moveBase" timelineType="MoveBase" stateTopic="state" goalTopic="goal" />
+ <TeleoReactor name="rechargeControllerAdapter" component="RechargeControllerAdapter"
+ timelineName="rechargeController" timelineType="RechargeController" stateTopic="recharge_state" goalTopic="recharge_goal" />
+ <TeleoReactor name="batteryStateAdapter" component="BatteryStateAdapter" timelineName="batteryState" timelineType="BatteryState" stateTopic="battery_state"/>
+</Agent>
Added: pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/pr2.exec.nddl
===================================================================
--- pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/pr2.exec.nddl (rev 0)
+++ pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/pr2.exec.nddl 2008-12-03 23:00:36 UTC (rev 7532)
@@ -0,0 +1,5 @@
+#include "nav.init.nddl"
+
+rejectable(moveBase.Active g0);
+g0.x = 25.00;
+g0.y = 16.00;
Added: pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/run_gazebo.xml
===================================================================
--- pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/run_gazebo.xml (rev 0)
+++ pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/run_gazebo.xml 2008-12-03 23:00:36 UTC (rev 7532)
@@ -0,0 +1,11 @@
+<launch>
+ <master auto="start"/>
+ <include file="$(find executive_trex_pr2)/wpc_gazebo.0/launch_gazebo_prototype1_wg.xml" />
+ <param name="/trex/input_file" value="nav_gazebo.cfg"/>
+ <param name="/trex/path" value="$(find executive_trex_pr2)/wpc_gazebo.0:$(find executive_trex_pr2)/cfg"/>
+ <param name="/trex/time_limit" value="20"/>
+ <param name="/trex/log_dir" value="$(find executive_trex_pr2)/wpc.0"/>
+ <param name="/trex/play_back" value="0"/>
+ <node pkg="executive_trex_pr2" type="trexfast" />
+ <test test-name="executive_trex_wpc.0" pkg="executive_trex_pr2" type="trexdebug" time-limit="40"/>
+</launch>
Added: pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/test_gazebo.xml
===================================================================
--- pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/test_gazebo.xml (rev 0)
+++ pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/test_gazebo.xml 2008-12-03 23:00:36 UTC (rev 7532)
@@ -0,0 +1,10 @@
+<launch>
+ <master auto="start"/>
+ <include file="$(find executive_trex_pr2)/wpc_gazebo.0/launch_gazebo_prototype1_wg.xml" />
+ <param name="/trex/input_file" value="nav_gazebo.cfg"/>
+ <param name="/trex/path" value="$(find executive_trex_pr2)/wpc_gazebo.0:$(find executive_trex_pr2)/cfg"/>
+ <param name="/trex/time_limit" value="20"/>
+ <param name="/trex/log_dir" value="$(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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