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[Personalrobots-commit] SF.net SVN: personalrobots:[8028] pkg/trunk
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From: <hsu...@us...> - 2008-12-12 19:59:40
|
Revision: 8028
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=8028&view=rev
Author: hsujohnhsu
Date: 2008-12-12 19:59:35 +0000 (Fri, 12 Dec 2008)
Log Message:
-----------
* rename send_description.xml to send_description.launch.
* call xacro directly instead of using send_description.launch where fitting.
* update scan for test_scan due to ray number change.
Modified Paths:
--------------
pkg/trunk/demos/arm_gazebo/arm.launch
pkg/trunk/demos/arm_gazebo/arm_no_x.launch
pkg/trunk/demos/pr2_gazebo/pr2_empty.launch
pkg/trunk/demos/pr2_gazebo/pr2_empty_no_x.launch
pkg/trunk/demos/pr2_gazebo/pr2_floorobj.launch
pkg/trunk/demos/pr2_gazebo/pr2_obs.launch
pkg/trunk/demos/pr2_gazebo/pr2_simple.launch
pkg/trunk/demos/pr2_gazebo/pr2_wg.launch
pkg/trunk/demos/pr2_gazebo/pr2_wg_no_x.launch
pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_obs.launch
pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_simple.launch
pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_tables.launch
pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_tables_no_x.launch
pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_wg.launch
pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_wg_no_x.launch
pkg/trunk/drivers/simulator/gazebo_plugin/test/test_camera.xml
pkg/trunk/drivers/simulator/gazebo_plugin/test/test_scan.py
pkg/trunk/drivers/simulator/gazebo_plugin/test/test_scan.xml
pkg/trunk/drivers/simulator/gazebo_plugin/test/test_slide.xml
pkg/trunk/robot_descriptions/head_test_cart/test.launch
pkg/trunk/robot_descriptions/pr2_alpha/pre.launch
pkg/trunk/robot_descriptions/pr2_alpha/prg.launch
pkg/trunk/robot_descriptions/robo_dev_demo/demo.launch
pkg/trunk/robot_descriptions/wg_robot_description/arm/init.launch
pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/init.launch
Added Paths:
-----------
pkg/trunk/robot_descriptions/wg_robot_description/arm/send_description.launch
pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/send_description.launch
Removed Paths:
-------------
pkg/trunk/robot_descriptions/wg_robot_description/arm/send_description.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/send_description.xml
Modified: pkg/trunk/demos/arm_gazebo/arm.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/arm.launch 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/demos/arm_gazebo/arm.launch 2008-12-12 19:59:35 UTC (rev 8028)
@@ -1,7 +1,7 @@
<launch>
<group name="wg">
<!-- send pr2_arm.xml to param server -->
- <include file="$(find wg_robot_description)/pr2_arm_test/send_description.launch" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2_arm_test/pr2_arm.xacro.xml'" />
<!-- -g flag runs gazebo in gui-less mode -->
<node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
Modified: pkg/trunk/demos/arm_gazebo/arm_no_x.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/arm_no_x.launch 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/demos/arm_gazebo/arm_no_x.launch 2008-12-12 19:59:35 UTC (rev 8028)
@@ -1,7 +1,7 @@
<launch>
<group name="wg">
<!-- send pr2_arm.xml to param server -->
- <include file="$(find wg_robot_description)/pr2_arm_test/send_description.launch" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2_arm_test/pr2_arm.xacro.xml'" />
<!-- -g flag runs gazebo in gui-less mode -->
<node pkg="gazebo" type="gazebo" args="-r $(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
Modified: pkg/trunk/demos/pr2_gazebo/pr2_empty.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_empty.launch 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/demos/pr2_gazebo/pr2_empty.launch 2008-12-12 19:59:35 UTC (rev 8028)
@@ -2,7 +2,7 @@
<!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/wg_robot_description/pr2 -->
<group name="wg">
<!-- send pr2.xml to param server -->
- <include file="$(find wg_robot_description)/pr2/send_description.launch" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2/pr2.xacro.xml'" />
<!-- start gazebo -->
<node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
Modified: pkg/trunk/demos/pr2_gazebo/pr2_empty_no_x.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_empty_no_x.launch 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/demos/pr2_gazebo/pr2_empty_no_x.launch 2008-12-12 19:59:35 UTC (rev 8028)
@@ -2,7 +2,7 @@
<!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/wg_robot_description/pr2 -->
<group name="wg">
<!-- send pr2.xml to param server -->
- <include file="$(find wg_robot_description)/pr2/send_description.launch" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2/pr2.xacro.xml'" />
<!-- start gazebo -->
<node pkg="gazebo" type="gazebo" args="-r $(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
Modified: pkg/trunk/demos/pr2_gazebo/pr2_floorobj.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_floorobj.launch 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/demos/pr2_gazebo/pr2_floorobj.launch 2008-12-12 19:59:35 UTC (rev 8028)
@@ -1,7 +1,7 @@
<launch>
<group name="wg">
<!-- create model file for gazebo -->
- <include file="$(find wg_robot_description)/pr2/send_description.launch" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2/pr2.xacro.xml'" />
<!-- -g flag runs gazebo in gui-less mode -->
<node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/floorobj.world" respawn="false" output="screen">
Modified: pkg/trunk/demos/pr2_gazebo/pr2_obs.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_obs.launch 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/demos/pr2_gazebo/pr2_obs.launch 2008-12-12 19:59:35 UTC (rev 8028)
@@ -1,7 +1,7 @@
<launch>
<group name="wg">
<!-- send pr2.xml to param server -->
- <include file="$(find wg_robot_description)/pr2/send_description.launch" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2/pr2.xacro.xml'" />
<!-- start gazebo -->
<node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/obstacle.world" respawn="false" output="screen">
Modified: pkg/trunk/demos/pr2_gazebo/pr2_simple.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_simple.launch 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/demos/pr2_gazebo/pr2_simple.launch 2008-12-12 19:59:35 UTC (rev 8028)
@@ -2,7 +2,7 @@
<!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/wg_robot_description/pr2 -->
<group name="wg">
<!-- send pr2.xml to param server -->
- <include file="$(find wg_robot_description)/pr2/send_description.launch" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2/pr2.xacro.xml'" />
<!-- start gazebo -->
<node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/simple.world" respawn="false" output="screen">
Modified: pkg/trunk/demos/pr2_gazebo/pr2_wg.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_wg.launch 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/demos/pr2_gazebo/pr2_wg.launch 2008-12-12 19:59:35 UTC (rev 8028)
@@ -1,7 +1,7 @@
<launch>
<group name="wg">
<!-- send pr2.xml to param server -->
- <include file="$(find wg_robot_description)/pr2/send_description.launch" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2/pr2.xacro.xml'" />
<!-- start gazebo -->
<node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/wg.world" respawn="false" output="screen">
Modified: pkg/trunk/demos/pr2_gazebo/pr2_wg_no_x.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_wg_no_x.launch 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/demos/pr2_gazebo/pr2_wg_no_x.launch 2008-12-12 19:59:35 UTC (rev 8028)
@@ -1,7 +1,7 @@
<launch>
<group name="wg">
<!-- send pr2.xml to param server -->
- <include file="$(find wg_robot_description)/pr2/send_description.launch" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2/pr2.xacro.xml'" />
<!-- start gazebo -->
<node pkg="gazebo" type="gazebo" args="-r -n $(find gazebo_robot_description)/gazebo_worlds/wg.world" respawn="false" output="screen">
Modified: pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_obs.launch
===================================================================
--- pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_obs.launch 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_obs.launch 2008-12-12 19:59:35 UTC (rev 8028)
@@ -1,7 +1,7 @@
<launch>
<group name="wg">
<!-- send pr2.xml to param server -->
- <include file="$(find wg_robot_description)/pr2_prototype1/send_description.xml" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2_prototype1/pr2_prototype1.xacro.xml'" />
<!-- start gazebo -->
<node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/obstacle.world" respawn="false" output="screen">
Modified: pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_simple.launch
===================================================================
--- pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_simple.launch 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_simple.launch 2008-12-12 19:59:35 UTC (rev 8028)
@@ -5,7 +5,7 @@
<!-- send pr2.xml to parameter server as a string, allow retrieval by various components whe needs it
(Mechanism Control, BaseControllerNode, etc...) -->
- <include file="$(find wg_robot_description)/pr2_prototype1/send_description.xml" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2_prototype1/pr2_prototype1.xacro.xml'" />
<!-- assign environment variables for gazebo and startup gazebo with argument containing the world file. -->
<node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/simple.world" respawn="false" output="screen">
Modified: pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_tables.launch
===================================================================
--- pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_tables.launch 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_tables.launch 2008-12-12 19:59:35 UTC (rev 8028)
@@ -5,7 +5,7 @@
<!-- send pr2.xml to parameter server as a string, allow retrieval by various components whe needs it
(Mechanism Control, BaseControllerNode, etc...) -->
- <include file="$(find wg_robot_description)/pr2_prototype1/send_description.xml" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2_prototype1/pr2_prototype1.xacro.xml'" />
<!-- assign environment variables for gazebo and startup gazebo with argument containing the world file. -->
<node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/tables.world" respawn="false" output="screen">
Modified: pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_tables_no_x.launch
===================================================================
--- pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_tables_no_x.launch 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_tables_no_x.launch 2008-12-12 19:59:35 UTC (rev 8028)
@@ -5,7 +5,7 @@
<!-- send pr2.xml to parameter server as a string, allow retrieval by various components whe needs it
(Mechanism Control, BaseControllerNode, etc...) -->
- <include file="$(find wg_robot_description)/pr2_prototype1/send_description.xml" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2_prototype1/pr2_prototype1.xacro.xml'" />
<!-- assign environment variables for gazebo and startup gazebo with argument containing the world file. -->
<node pkg="gazebo" type="gazebo" args="-r $(find gazebo_robot_description)/gazebo_worlds/tables.world" respawn="false" output="screen">
Modified: pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_wg.launch
===================================================================
--- pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_wg.launch 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_wg.launch 2008-12-12 19:59:35 UTC (rev 8028)
@@ -5,7 +5,7 @@
<!-- send pr2.xml to parameter server as a string, allow retrieval by various components whe needs it
(Mechanism Control, BaseControllerNode, etc...) -->
- <include file="$(find wg_robot_description)/pr2_prototype1/send_description.xml" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2_prototype1/pr2_prototype1.xacro.xml'" />
<!-- assign environment variables for gazebo and startup gazebo with argument containing the world file. -->
<node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/wg.world" respawn="false" output="screen">
Modified: pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_wg_no_x.launch
===================================================================
--- pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_wg_no_x.launch 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_wg_no_x.launch 2008-12-12 19:59:35 UTC (rev 8028)
@@ -5,7 +5,7 @@
<!-- send pr2.xml to parameter server as a string, allow retrieval by various components whe needs it
(Mechanism Control, BaseControllerNode, etc...) -->
- <include file="$(find wg_robot_description)/pr2_prototype1/send_description.xml" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2_prototype1/pr2_prototype1.xacro.xml'" />
<!-- assign environment variables for gazebo and startup gazebo with argument containing the world file. -->
<node pkg="gazebo" type="gazebo" args="-r -n $(find gazebo_robot_description)/gazebo_worlds/wg.world" respawn="false" output="screen">
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/test/test_camera.xml
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/test/test_camera.xml 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/test/test_camera.xml 2008-12-12 19:59:35 UTC (rev 8028)
@@ -9,7 +9,7 @@
</node>
<!-- send single_link.xml to param server -->
- <include file="$(find wg_robot_description)/pr2/send_description.launch" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2/pr2.xacro.xml'" />
<!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
<node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 -3 0 0" respawn="false" output="screen" /> <!-- load default arm controller -->
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/test/test_scan.py
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/test/test_scan.py 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/test/test_scan.py 2008-12-12 19:59:35 UTC (rev 8028)
@@ -187,42 +187,40 @@
10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
+10.0500001907, 2.04787278175, 2.04592037201, 2.03293919563, 2.0309150219, 2.02612328529, 2.02249693871,
+2.01050376892, 1.9971985817, 1.99220633507, 1.99093174934, 1.98233509064, 1.96967220306, 1.96407520771,
+1.95673263073, 1.9632999897, 1.9541169405, 1.94116449356, 1.93745577335, 1.93260037899, 1.91873133183,
+1.92071986198, 1.92447936535, 1.91405880451, 1.90388011932, 1.90442991257, 1.92065799236, 1.94389533997,
+10.0500001907, 10.0500001907, 10.0500001907, 2.20284819603, 2.11506819725, 2.07276725769, 2.05478954315,
+2.03410387039, 2.01044726372, 1.99864196777, 1.97362887859, 1.95649659634, 1.94725096226, 1.93579721451,
+1.92892599106, 1.9206674099, 1.89596438408, 1.89780378342, 1.89246237278, 1.8796428442, 1.87438380718,
+1.85257148743, 1.8596534729, 1.84719610214, 1.83455812931, 1.85068559647, 1.83815693855, 1.83944654465,
+1.83141326904, 1.83223962784, 1.83295285702, 1.81912827492, 1.82103550434, 1.81053507328, 1.8073772192,
+1.81735467911, 1.81044983864, 1.80440604687, 1.80720567703, 1.79462218285, 1.8113617897, 1.80637574196,
+1.81443309784, 1.7996609211, 1.80886435509, 1.80233979225, 1.81417393684, 1.81837320328, 1.81973767281,
+1.81899499893, 1.81897163391, 1.81569230556, 1.81440281868, 1.82588279247, 1.82763755322, 1.8355230093,
+1.82483589649, 1.8410063982, 1.84740209579, 1.85418522358, 1.85382521152, 1.86047744751, 1.87290942669,
+1.87637448311, 1.87997066975, 1.88822221756, 1.90849196911, 1.90068280697, 1.92333364487, 1.92135071754,
+1.9316290617, 1.94617557526, 1.96299791336, 1.98042583466, 1.9886174202, 2.01968574524, 2.04413557053,
+2.06229710579, 2.09267020226, 2.14132356644, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
-10.0500001907, 10.0500001907, 2.04438686371, 2.03526091576, 2.03843474388, 2.02810740471, 2.01536941528,
-2.0106742382, 2.00239062309, 1.99854290485, 2.00354862213, 1.98480772972, 1.98543548584, 1.97376585007,
-1.97784543037, 1.95745873451, 1.95659172535, 1.94629871845, 1.94227647781, 1.94253218174, 1.93757581711,
-1.93427300453, 1.92613852024, 1.92173802853, 1.91625797749, 1.90750837326, 1.91858124733, 1.89570868015,
-1.9184615612, 1.94624936581, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 2.14344358444,
-2.1046128273, 2.06721520424, 2.04437351227, 2.0196518898, 2.00137424469, 1.99092102051, 1.96682059765,
-1.9552834034, 1.95001757145, 1.93734264374, 1.93557405472, 1.91600286961, 1.90478920937, 1.90029597282,
-1.89263594151, 1.87531137466, 1.87568151951, 1.86833143234, 1.8595045805, 1.85612237453, 1.84199500084,
-1.85124623775, 1.8307158947, 1.82791626453, 1.83716058731, 1.83264183998, 1.83296573162, 1.81996226311,
-1.82218003273, 1.82357537746, 1.82011902332, 1.81928098202, 1.80879497528, 1.80926239491, 1.80285894871,
-1.80863332748, 1.80659532547, 1.80666220188, 1.80548453331, 1.79809331894, 1.81591355801, 1.80456137657,
-1.80835199356, 1.81127357483, 1.81024718285, 1.80711269379, 1.80918550491, 1.81158769131, 1.81054377556,
-1.81785166264, 1.80969893932, 1.82439088821, 1.83087062836, 1.82215571404, 1.82838749886, 1.8384206295,
-1.84195029736, 1.83588850498, 1.85495364666, 1.85131633282, 1.86470663548, 1.86034476757, 1.87930703163,
-1.87743628025, 1.88554620743, 1.89345943928, 1.88949298859, 1.90567290783, 1.92090845108, 1.92672729492,
-1.93174529076, 1.94988548756, 1.96379482746, 1.97736215591, 1.9952737093, 2.0085003376, 2.03174781799,
-2.04610800743, 2.08065462112, 2.11122274399, 2.17865300179, 10.0500001907, 10.0500001907, 10.0500001907,
10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
+1.80345368385, 1.7794598341, 1.7536636591, 1.74016606808, 1.72928035259, 1.71435511112, 1.68924510479,
+1.67889750004, 1.66685688496, 1.66631317139, 1.66503357887, 1.65074276924, 1.64622533321, 1.64321935177,
+1.64316165447, 1.62697017193, 1.62436592579, 1.62134301662, 1.62517416477, 1.61807000637, 1.62088704109,
+1.61336827278, 1.5963088274, 1.6035785675, 1.59667503834, 1.60347390175, 1.59573459625, 1.5959597826,
+1.60779702663, 1.59334671497, 1.60121428967, 1.60183036327, 1.59678864479, 1.60666680336, 1.60501253605,
+1.60348498821, 1.61345434189, 1.61245715618, 1.62518751621, 1.62398457527, 1.62988734245, 1.62476825714,
+1.64009869099, 1.63341450691, 1.64568448067, 1.64412105083, 1.65664947033, 1.66021370888, 1.67184150219,
+1.68355834484, 1.69032812119, 1.70137858391, 1.7188808918, 1.72428512573, 1.74748575687, 1.77116715908,
+1.7868065834, 1.84455692768, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
-10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 1.82291102409, 1.77777791023, 1.75317430496,
-1.7438467741, 1.73084497452, 1.7287248373, 1.70747983456, 1.69615650177, 1.68979692459, 1.67314648628,
-1.66798436642, 1.64787042141, 1.65843641758, 1.64694333076, 1.639498353, 1.63458120823, 1.6370729208,
-1.62373054028, 1.62701678276, 1.62720894814, 1.6159889698, 1.61263751984, 1.60884582996, 1.60460424423,
-1.60788786411, 1.61228084564, 1.60764610767, 1.59833323956, 1.60253632069, 1.60882735252, 1.60960781574,
-1.60044157505, 1.59952819347, 1.59946334362, 1.60755443573, 1.61359798908, 1.6060333252, 1.60476875305,
-1.60351586342, 1.61390519142, 1.61251187325, 1.62213218212, 1.62440621853, 1.62318503857, 1.63000869751,
-1.6230815649, 1.63896048069, 1.6419955492, 1.64225423336, 1.65474712849, 1.65734326839, 1.66962206364,
-1.67535257339, 1.67523550987, 1.70329809189, 1.70518648624, 1.71380269527, 1.73248124123, 1.7559132576,
-1.76032626629, 1.79325187206, 1.83686363697, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
@@ -250,15 +248,12 @@
10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
-10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
-10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
-10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
-10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
-10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, ]
+10.0500001907, 10.0500001907, 10.0500001907, ]
+
class PointCloudTest(unittest.TestCase):
def __init__(self, *args):
super(PointCloudTest, self).__init__(*args)
@@ -294,7 +289,7 @@
self.success = True
- def test_pointcloud(self):
+ def test_scan(self):
print "LNK\n"
rospy.TopicSub("base_scan", LaserScan, self.pointInput)
rospy.init_node(NAME, anonymous=True)
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/test/test_scan.xml
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/test/test_scan.xml 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/test/test_scan.xml 2008-12-12 19:59:35 UTC (rev 8028)
@@ -9,7 +9,7 @@
</node>
<!-- send single_link.xml to param server -->
- <include file="$(find wg_robot_description)/pr2/send_description.launch" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2/pr2.xacro.xml'" />
<!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
<node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" /> <!-- load default arm controller -->
@@ -18,5 +18,5 @@
<include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
<!--<node pkg="gazebo_plugin" type="groundtruthtransform" args="" respawn="true" />-->
- <test test-name="gazebo_plugin_testpointclouds1" pkg="gazebo_plugin" type="test_scan.py" />
+ <test test-name="gazebo_plugin_test_scan" pkg="gazebo_plugin" type="test_scan.py" />
</launch>
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/test/test_slide.xml
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/test/test_slide.xml 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/test/test_slide.xml 2008-12-12 19:59:35 UTC (rev 8028)
@@ -9,7 +9,7 @@
</node>
<!-- send single_link.xml to param server -->
- <include file="$(find wg_robot_description)/pr2/send_description.launch" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2/pr2.xacro.xml'" />
<!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
<node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 0 8 110 0 0 90" respawn="false" output="screen" /> <!-- load default arm controller -->
Modified: pkg/trunk/robot_descriptions/head_test_cart/test.launch
===================================================================
--- pkg/trunk/robot_descriptions/head_test_cart/test.launch 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/robot_descriptions/head_test_cart/test.launch 2008-12-12 19:59:35 UTC (rev 8028)
@@ -1,5 +1,5 @@
<launch>
- <include file="$(find wg_robot_description)/robo_dev_head/send_description.xml" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/robo_dev_head/robo_dev_head.xml'" />
<machine name="xenomai_root" user="root" address="localhost" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_REALTIME_PATH)" default="never"/>
Modified: pkg/trunk/robot_descriptions/pr2_alpha/pre.launch
===================================================================
--- pkg/trunk/robot_descriptions/pr2_alpha/pre.launch 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/robot_descriptions/pr2_alpha/pre.launch 2008-12-12 19:59:35 UTC (rev 8028)
@@ -1,5 +1,5 @@
<launch>
- <include file="$(find wg_robot_description)/pr2_prototype1/send_description.xml" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2_prototype1/pr2_prototype1.xacro.xml'" />
<machine name="xenomai_root" user="root" address="pre1" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never"/>
Modified: pkg/trunk/robot_descriptions/pr2_alpha/prg.launch
===================================================================
--- pkg/trunk/robot_descriptions/pr2_alpha/prg.launch 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/robot_descriptions/pr2_alpha/prg.launch 2008-12-12 19:59:35 UTC (rev 8028)
@@ -1,5 +1,5 @@
<launch>
- <include file="$(find wg_robot_description)/pr2_prototype1/send_description.xml" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2_prototype1/pr2_prototype1.xacro.xml'" />
<machine name="xenomai_root" user="root" address="prg1" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never"/>
Modified: pkg/trunk/robot_descriptions/robo_dev_demo/demo.launch
===================================================================
--- pkg/trunk/robot_descriptions/robo_dev_demo/demo.launch 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/robot_descriptions/robo_dev_demo/demo.launch 2008-12-12 19:59:35 UTC (rev 8028)
@@ -1,5 +1,5 @@
<launch>
- <include file="$(find wg_robot_description)/robo_dev_head/send_description.xml" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/robo_dev_head/robo_dev_head.xml'" />
<machine name="xenomai_root" user="root" address="prdemo1" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_REALTIME_PATH)" default="never"/>
Modified: pkg/trunk/robot_descriptions/wg_robot_description/arm/init.launch
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/arm/init.launch 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/robot_descriptions/wg_robot_description/arm/init.launch 2008-12-12 19:59:35 UTC (rev 8028)
@@ -1,5 +1,5 @@
<launch>
- <include file="$(find wg_robot_description)/arm/send_description.xml" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/arm/arm.xml'" />
<include file="$(find wg_robot_description)/arm/calibrate.launch" />
<group name="wg">
<node pkg="pr2_etherCAT" type="pr2_etherCAT" args="-i rteth0 -x /robotdesc/pr2"
Copied: pkg/trunk/robot_descriptions/wg_robot_description/arm/send_description.launch (from rev 8014, pkg/trunk/robot_descriptions/wg_robot_description/arm/send_description.xml)
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/arm/send_description.launch (rev 0)
+++ pkg/trunk/robot_descriptions/wg_robot_description/arm/send_description.launch 2008-12-12 19:59:35 UTC (rev 8028)
@@ -0,0 +1,5 @@
+<launch>
+
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/arm/arm.xml'" />
+
+</launch>
Deleted: pkg/trunk/robot_descriptions/wg_robot_description/arm/send_description.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/arm/send_description.xml 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/robot_descriptions/wg_robot_description/arm/send_description.xml 2008-12-12 19:59:35 UTC (rev 8028)
@@ -1,5 +0,0 @@
-<launch>
-
- <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/arm/arm.xml'" />
-
-</launch>
Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/init.launch
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/init.launch 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/init.launch 2008-12-12 19:59:35 UTC (rev 8028)
@@ -1,5 +1,5 @@
<launch>
- <include file="$(find wg_robot_description)/pr2_prototype1/send_description.xml" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2_prototype1/pr2_prototype1.xacro.xml'" />
<include file="$(find wg_robot_description)/pr2_prototype1/calibrate.launch" />
<group name="wg">
<node pkg="pr2_etherCAT" type="pr2_etherCAT" args="-i rteth0 -x /robotdesc/pr2"
Copied: pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/send_description.launch (from rev 8014, pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/send_description.xml)
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/send_description.launch (rev 0)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/send_description.launch 2008-12-12 19:59:35 UTC (rev 8028)
@@ -0,0 +1,5 @@
+<launch>
+
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2_prototype1/pr2_prototype1.xacro.xml'" />
+
+</launch>
Deleted: pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/send_description.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/send_description.xml 2008-12-12 19:31:57 UTC (rev 8027)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/send_description.xml 2008-12-12 19:59:35 UTC (rev 8028)
@@ -1,5 +0,0 @@
-<launch>
-
- <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2_prototype1/pr2_prototype1.xacro.xml'" />
-
-</launch>
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