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[Personalrobots-commit] SF.net SVN: personalrobots:[7537] pkg/trunk
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From: <hsu...@us...> - 2008-12-03 23:20:39
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Revision: 7537
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=7537&view=rev
Author: hsujohnhsu
Date: 2008-12-03 23:20:36 +0000 (Wed, 03 Dec 2008)
Log Message:
-----------
added a testcase with nothing but a few tables for 2dnav-stack testing.
Added Paths:
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pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_tables.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/launch_gazebo_prototype1_tables.xml
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/launch_gazebo_prototype1_tables_no_x.xml
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/run_tables_gazebo.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/tables.world
Added: pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_tables.launch
===================================================================
--- pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_tables.launch (rev 0)
+++ pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_tables.launch 2008-12-03 23:20:36 UTC (rev 7537)
@@ -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 $(find gazebo_robot_description)/gazebo_worlds/tables.world" respawn="false" output="screen">
+ <env name="LD_LIBRARY_PATH" value="$(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="$(find gazebo_robot_description)/world" />
+ </node>
+
+ <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 -5 -15 0 0 0 90" respawn="false" output="screen" /> <!-- load default arm controller -->
+
+ <!-- use mech.py to spawn all controllers listed in controllers.xml -->
+ <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_controllers.launch" />
+ </group>
+</launch>
+
Added: pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/launch_gazebo_prototype1_tables.xml
===================================================================
--- pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/launch_gazebo_prototype1_tables.xml (rev 0)
+++ pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/launch_gazebo_prototype1_tables.xml 2008-12-03 23:20:36 UTC (rev 7537)
@@ -0,0 +1,28 @@
+<launch>
+ <master auto="start"/>
+ <group name="wg">
+
+ <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_tables.launch"/>
+
+ <!-- Common parameter settings /-->
+ <param name="/trex/ping_frequency" value="1"/>
+
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/map_blank.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="$(find world_3d_map)/run.xml"/>
+ <node pkg="highlevel_controllers" type="move_arm" args="right" respawn="false"/>
+ <node pkg="highlevel_controllers" type="move_arm" args="left" respawn="false" />
+ <node pkg="highlevel_controllers" type="move_end_effector" args="right" respawn="false"/>
+ -->
+
+ <node pkg="nav_view" type="nav_view" respawn="false" />
+
+ </group>
+</launch>
Added: pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/launch_gazebo_prototype1_tables_no_x.xml
===================================================================
--- pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/launch_gazebo_prototype1_tables_no_x.xml (rev 0)
+++ pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/launch_gazebo_prototype1_tables_no_x.xml 2008-12-03 23:20:36 UTC (rev 7537)
@@ -0,0 +1,28 @@
+<launch>
+ <master auto="start"/>
+ <group name="wg">
+
+ <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_tables_no_x.launch"/>
+
+ <!-- Common parameter settings /-->
+ <param name="/trex/ping_frequency" value="1"/>
+
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/map_blank.png 0.1" respawn="false" />
+
+ <node pkg="fake_localization" type="fake_localization" respawn="false" output="screen" />
+
+ <node pkg="highlevel_controllers" type="move_base_sbpl" args="" respawn="false" />
+ <node pkg="highlevel_controllers" type="recharge_controller" args="" respawn="false" />
+
+ <!--
+ <node pkg="kinematic_planning" type="kinematic_planning" args="robotdesc/pr2"/>
+ <include file="$(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/run_tables_gazebo.xml
===================================================================
--- pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/run_tables_gazebo.xml (rev 0)
+++ pkg/trunk/highlevel/executive_trex/executive_trex_pr2/wpc_gazebo.0/run_tables_gazebo.xml 2008-12-03 23:20:36 UTC (rev 7537)
@@ -0,0 +1,11 @@
+<launch>
+ <master auto="start"/>
+ <include file="$(find executive_trex_pr2)/wpc_gazebo.0/launch_gazebo_prototype1_tables_no_x.xml" />
+ <param name="/trex/input_file" value="nav_gazebo.cfg"/>
+ <param name="/trex/path" value="$(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/robot_descriptions/gazebo_robot_description/gazebo_worlds/tables.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/tables.world (rev 0)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/tables.world 2008-12-03 23:20:36 UTC (rev 7537)
@@ -0,0 +1,154 @@
+<?xml version="1.0"?>
+
+<gazebo:world
+ xmlns:xi="http://www.w3.org/2001/XInclude"
+ xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window"
+ xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param"
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+ xmlns:geo="http://willowgarage.com/xmlschema/#geo"
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+ xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"
+ xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+ xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" >
+
+ <verbosity>5</verbosity>
+
+<!-- cfm is 1e-5 for single precision -->
+<!-- erp is typically .1-.8 -->
+<!-- here's the global contact cfm/erp -->
+ <physics:ode>
+ <stepTime>0.001</stepTime>
+ <gravity>0 0 -9.8</gravity>
+ <cfm>0.0000000001</cfm>
+ <erp>0.2</erp>
+ <quickStep>true</quickStep>
+ <quickStepIters>3</quickStepIters>
+ <quickStepW>1.3</quickStepW>
+ </physics:ode>
+
+ <geo:origin>
+ <lat>37.4270909558</lat><lon>-122.077919338</lon>
+ </geo:origin>
+
+ <rendering:gui>
+ <type>fltk</type>
+ <size>1024 800</size>
+ <pos>0 0</pos>
+ <frames>
+ <row height="100%">
+ <camera width="100%">
+ <xyz>0 0 20</xyz>
+ <rpy>0 90 90</rpy>
+ </camera>
+ </row>
+ </frames>
+ </rendering:gui>
+
+
+ <rendering:ogre>
+ <ambient>1.0 1.0 1.0 1.0</ambient>
+ <sky>
+ <material>Gazebo/CloudySky</material>
+ </sky>
+ <gazeboPath>media</gazeboPath>
+ <grid>false</grid>
+ <maxUpdateRate>10.</maxUpdateRate>
+ </rendering:ogre>
+
+ <model:physical name="gplane">
+ <xyz>0 0 0</xyz>
+ <rpy>0 0 0</rpy>
+ <static>true</static>
+
+ <body:plane name="plane">
+ <geom:plane name="plane">
+ <kp>1000000.0</kp>
+ <kd>1.0</kd>
+ <normal>0 0 1</normal>
+ <size>51.3 51.3</size>
+ <material>Gazebo/White</material>
+ </geom:plane>
+ </body:plane>
+ </model:physical>
+
+<!--
+ <model:physical name="walls">
+ <include embedded="false">
+ <xi:include href="../gazebo_objects/willow-walls.model" />
+ </include>
+ </model:physical>
+ <model:physical name="willow_map">
+ <xyz>-25.65 25.65 1.0</xyz>
+ <rpy>180 0 0</rpy>
+ <static>true</static>
+ <body:map name="willow_map_body">
+ <geom:map name="willow_map_geom">
+ <image>willowMap.png</image>
+ <threshold>200</threshold>
+ <granularity>1</granularity>
+ <negative>false</negative>
+ <scale>0.1</scale>
+ <offset>0 0 0</offset>
+ <material>Gazebo/Rocky</material>
+ </geom:map>
+ </body:map>
+ </model:physical>
+-->
+
+ <!-- large desk in green room -->
+ <model:physical name="obstacles_model1">
+ <xyz>-2 -12 0</xyz>
+ <rpy>0.0 0.0 0.0 </rpy>
+ <include embedded="true">
+ <xi:include href="../gazebo_objects/desk1.model" />
+ </include>
+ </model:physical>
+
+ <!-- small desks -->
+ <model:physical name="obstacles_model2">
+ <xyz>-11 2.5 0</xyz>
+ <rpy>0.0 0.0 0.0 </rpy>
+ <include embedded="true">
+ <xi:include href="../gazebo_objects/desk2.model" />
+ </include>
+ </model:physical>
+
+ <!-- small desks -->
+ <model:physical name="obstacles_model3">
+ <xyz>-4 -12 0</xyz>
+ <rpy>0.0 0.0 0.0 </rpy>
+ <include embedded="true">
+ <xi:include href="../gazebo_objects/desk3.model" />
+ </include>
+ </model:physical>
+
+ <model:empty name="factory_model">
+ <controller:factory name="factory_controller">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>1000.0</updateRate>
+ <interface:factory name="factory_iface"/>
+ </controller:factory>
+ </model:empty>
+
+ <!-- White Directional light -->
+ <!--
+ <model:renderable name="directional_white">
+ <light>
+ <type>directional</type>
+ <direction>0 -0.5 -0.5</direction>
+ <diffuseColor>0.4 0.4 0.4</diffuseColor>
+ <specularColor>0.0 0.0 0.0</specularColor>
+ <attenuation>1 0.0 1.0 0.4</attenuation>
+ </light>
+ </model:renderable>
+ -->
+
+
+</gazebo:world>
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