[Personalrobots-commit] SF.net SVN: personalrobots:[7830] pkg/trunk

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

Revision: 7830
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=7830&view=rev
Author:   hsujohnhsu
Date:     2008-12-09 21:39:42 +0000 (Tue, 09 Dec 2008)

Log Message:
-----------
 * update base laser scan range form +/-135 degrees to +/-100 degrees so it doesn't pick up base of arm_pan joint.
 * update tilting laser scan range so it doesn't pick up top of arm_pan joint.
 * @todo: joints not calibrated correctly in current launch script.  should add calibration controllers.

Modified Paths:
--------------
    pkg/trunk/demos/pr2_gazebo/pr2_default_controllers.launch
    pkg/trunk/demos/pr2_gazebo/setarms.py
    pkg/trunk/robot_descriptions/wg_robot_description/pr2_robot_defs/base_defs.xml

Modified: pkg/trunk/demos/pr2_gazebo/pr2_default_controllers.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_default_controllers.launch	2008-12-09 21:36:43 UTC (rev 7829)
+++ pkg/trunk/demos/pr2_gazebo/pr2_default_controllers.launch	2008-12-09 21:39:42 UTC (rev 7830)
@@ -15,6 +15,7 @@
 
     <!-- send laser tilt motor a command -->
     <!--node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 20 0.872 0.3475" respawn="false" output="screen" /-->
-    <node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 1 .45 .40" />
+    <!--node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 1 .45 .40" /--> <!-- this one will pick up shoulders at lowest position -->
+    <node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 1 .35 .3" />
 </launch>
 

Modified: pkg/trunk/demos/pr2_gazebo/setarms.py
===================================================================
--- pkg/trunk/demos/pr2_gazebo/setarms.py	2008-12-09 21:36:43 UTC (rev 7829)
+++ pkg/trunk/demos/pr2_gazebo/setarms.py	2008-12-09 21:39:42 UTC (rev 7830)
@@ -55,11 +55,11 @@
 
 
 CMD_POS_1      =  0.0
-CMD_POS_2      =  2.0
+CMD_POS_2      =  3.142
 CMD_POS_3      =  0.0
-CMD_POS_4      =  2.0
+CMD_POS_4      =  3.142
 CMD_POS_5      =  3.142
-CMD_POS_6      =  2.0
+CMD_POS_6      =  3.142
 CMD_POS_7      =  0.0
 CMD_POS_8      =  0.8
 

Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2_robot_defs/base_defs.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_robot_defs/base_defs.xml	2008-12-09 21:36:43 UTC (rev 7829)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_robot_defs/base_defs.xml	2008-12-09 21:39:42 UTC (rev 7830)
@@ -24,7 +24,7 @@
       <joint name="${parent}_${suffix}_wheel_joint" />
       <origin xyz="0 ${reflect*caster_wheel_offset_y} 0" rpy="0 0 0" />
       <inertial>
-        <mass value="0.44036" />
+        <mass value="0.44036" /> <!-- check jmh 20081205 -->
         <com xyz=" 0 0 0 " />
         <inertia  ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983"
                   iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943" />
@@ -163,7 +163,7 @@
     <sensor name="base_laser" type="laser">
       <calibration filename="calib_filename" />
       <parent name="${name}_link" />
-      <origin xyz="0.275 0 0.182" rpy="0 0 0" />
+      <origin xyz="0.275 0 0.132" rpy="0 0 0" />
       <joint name="base_laser_joint" />
       <inertial>
         <mass value="1.0" />
@@ -197,8 +197,8 @@
             <origin>0.0 0.0 0.17</origin> <!-- FIXME: for verbatim, adjust this number according to base_laser_center_box_center_offset_z -->
             <displayRays>false</displayRays>
 
-            <minAngle>-135</minAngle>
-            <maxAngle>135</maxAngle>
+            <minAngle>-100</minAngle> <!-- scans own arms if -135~+135 -->
+            <maxAngle>100</maxAngle>
 
             <minRange>0.05</minRange>
             <maxRange>10.0</maxRange>


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