[Personalrobots-commit] SF.net SVN: personalrobots:[8608] pkg/trunk

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

Revision: 8608
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=8608&view=rev
Author:   hsujohnhsu
Date:     2008-12-27 04:08:47 +0000 (Sat, 27 Dec 2008)

Log Message:
-----------
 * update convex decomposition generated stl mesh to .stlb extension.
 * added numpy dependency to gazebo_plugin for unit tests.
 * update gazebo_robot_description to generate ogre mesh from .stl and .stlb

Modified Paths:
--------------
    pkg/trunk/drivers/simulator/gazebo_plugin/manifest.xml
    pkg/trunk/robot_descriptions/gazebo_robot_description/CMakeLists.txt
    pkg/trunk/robot_descriptions/wg_robot_description/CMakeLists.txt

Modified: pkg/trunk/drivers/simulator/gazebo_plugin/manifest.xml
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/manifest.xml	2008-12-27 03:55:06 UTC (rev 8607)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/manifest.xml	2008-12-27 04:08:47 UTC (rev 8608)
@@ -30,4 +30,6 @@
   <export>
     <cpp cflags="-I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib" />
   </export>
+  <sysdepend os="ubuntu" version="8.04-hardy" package="python-numpy"/>
+  <sysdepend os="ubuntu" version="7.10-gutsy" package="python-numpy"/>
 </package>

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/CMakeLists.txt
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/CMakeLists.txt	2008-12-27 03:55:06 UTC (rev 8607)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/CMakeLists.txt	2008-12-27 04:08:47 UTC (rev 8608)
@@ -8,8 +8,8 @@
 find_ros_package(gazebo_robot_description)
 get_target_property(urdf2gazebo_exe urdf2gazebo LOCATION)
 
-# build the ogre mesh files
-file(GLOB pr2_stl_files ${wg_robot_description_PACKAGE_PATH}/models/pr2/*.stl)
+# build the ogre mesh files from *.stl (and *.stlb from convex decomposition)
+file(GLOB pr2_stl_files ${wg_robot_description_PACKAGE_PATH}/models/pr2/*.stl ${wg_robot_description_PACKAGE_PATH}/models/pr2/convex/*.stlb)
 set(pr2_gen_files "")
 
 set(pr2_out_path ${CMAKE_CURRENT_SOURCE_DIR}/world/Media/models/pr2)

Modified: pkg/trunk/robot_descriptions/wg_robot_description/CMakeLists.txt
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/CMakeLists.txt	2008-12-27 03:55:06 UTC (rev 8607)
+++ pkg/trunk/robot_descriptions/wg_robot_description/CMakeLists.txt	2008-12-27 04:08:47 UTC (rev 8608)
@@ -89,14 +89,14 @@
 
 set(pr2_gen_files ${pr2_gen_files} ${basepath}/convex/${basename}_convex.obj)
 
-#convert obj files back to stl, put in directory name convex
+#convert obj files back to stlb, put in directory named convex
 add_custom_command(
-  OUTPUT ${basepath}/convex/${basename}_convex.stl
+  OUTPUT ${basepath}/convex/${basename}_convex.stlb
   COMMAND ivcon
-  ARGS ${basepath}/convex/${basename}_convex.obj ${basepath}/convex/${basename}_convex.stl
+  ARGS ${basepath}/convex/${basename}_convex.obj ${basepath}/convex/${basename}_convex.stlb
   DEPENDS ${it} ivcon)
 
-set(pr2_gen_files ${pr2_gen_files} ${basepath}/convex/${basename}_convex.stl)
+set(pr2_gen_files ${pr2_gen_files} ${basepath}/convex/${basename}_convex.stlb)
 
 
 endforeach(it)


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