[Personalrobots-commit] SF.net SVN: personalrobots:[8612] pkg/trunk

[<rdi...@us...>]

Revision: 8612
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=8612&view=rev
Author:   rdiankov
Date:     2008-12-27 09:40:39 +0000 (Sat, 27 Dec 2008)

Log Message:
-----------
added missing dependencies to pr2_alpha, fixed rosthread issue in robot_pose_ekf, checkerboard detector takes in tf frames

Modified Paths:
--------------
    pkg/trunk/estimation/robot_pose_ekf/manifest.xml
    pkg/trunk/openrave_planning/ormanipulation/startchecker.ros.xml
    pkg/trunk/robot_descriptions/pr2_alpha/manifest.xml
    pkg/trunk/robot_descriptions/pr2_alpha/prf.launch
    pkg/trunk/vision/checkerboard_detector/checkerboard_detector.cpp

Modified: pkg/trunk/estimation/robot_pose_ekf/manifest.xml
===================================================================
--- pkg/trunk/estimation/robot_pose_ekf/manifest.xml	2008-12-27 06:36:24 UTC (rev 8611)
+++ pkg/trunk/estimation/robot_pose_ekf/manifest.xml	2008-12-27 09:40:39 UTC (rev 8612)
@@ -7,4 +7,5 @@
 <depend package="std_msgs" />
 <depend package="robot_msgs" />
 <depend package="tf" />
+<depend package="rosthread"/>
 </package>

Modified: pkg/trunk/openrave_planning/ormanipulation/startchecker.ros.xml
===================================================================
--- pkg/trunk/openrave_planning/ormanipulation/startchecker.ros.xml	2008-12-27 06:36:24 UTC (rev 8611)
+++ pkg/trunk/openrave_planning/ormanipulation/startchecker.ros.xml	2008-12-27 09:40:39 UTC (rev 8612)
@@ -9,12 +9,13 @@
   </node> -->
   <group ns="checkerdetector" clear_params="true">
     <param name="display" type="int" value="1"/>
+    <param name="frame_id" type="string" value="head_tilt_link"/>
     <param name="rect0_size_x" type="double" value="0.02133"/>
     <param name="rect0_size_y" type="double" value="0.021"/>
     <param name="grid0_size_x" type="int" value="4"/>
     <param name="grid0_size_y" type="int" value="3"/>
     <param name="type0" type="string" value="data/ricebox.kinbody.xml"/>
-    <node pkg="checkerboard_detector" type="checkerboard_detector" respawn="true" output="screen">
+    <node machine="localhost_cameras" pkg="checkerboard_detector" type="checkerboard_detector" respawn="true" output="screen">
       <remap from="CamInfo" to="/dcam/left/cam_info"/>
       <remap from="Image" to="/dcam/left/image_rect"/>
 <!--       <env name="DISPLAY" value=":0.0"/> -->

Modified: pkg/trunk/robot_descriptions/pr2_alpha/manifest.xml
===================================================================
--- pkg/trunk/robot_descriptions/pr2_alpha/manifest.xml	2008-12-27 06:36:24 UTC (rev 8611)
+++ pkg/trunk/robot_descriptions/pr2_alpha/manifest.xml	2008-12-27 09:40:39 UTC (rev 8612)
@@ -19,6 +19,6 @@
   <depend package="rosrecord"/>
   <depend package="hokuyo_node"/>
   <depend package="imu_node"/>
-
-
+  <depend package="dcam"/>
+  <depend package="robot_pose_ekf"/>
 </package>

Modified: pkg/trunk/robot_descriptions/pr2_alpha/prf.launch
===================================================================
--- pkg/trunk/robot_descriptions/pr2_alpha/prf.launch	2008-12-27 06:36:24 UTC (rev 8611)
+++ pkg/trunk/robot_descriptions/pr2_alpha/prf.launch	2008-12-27 09:40:39 UTC (rev 8612)
@@ -63,14 +63,23 @@
 -->
 
 <!-- DCAM-->
-<!-- <node machine="three" name="dcam" pkg="dcam_node" type="dcam_node" respawn="false">
-   <param name="video_mode" type="str" value="640x480_videre_none"/>
-   <param name="do_rectify" type="bool" value="True"/>
-   <param name="do_stereo" type="bool" value="True"/>
-   <param name="do_calc_points" type="bool" value="False"/>
- </node> -->
+<node machine="three" name="dcam" pkg="dcam" type="dcam" respawn="false">
+  <!-- video_mode should be one of the following:
+         640x480_videre_rectified:     Provides rectified images from the hw
+         Provides: left mono image
+         640x480_videre_disparity:     Disparity and rectification done on chip.
+         Provides: Disparity and left mono image
+         640x480_videre_disparity_raw: Disparity done on chip (debayer and rectification in software).
+         Provides: disparity and left color image.
+         640x480_videre_none:          No stereo on chip (all processing done in software).
+         Provides: all 3 images available
+  -->
+  <param name="video_mode" type="str" value="640x480_videre_rectified"/>
+  <param name="do_rectify" type="bool" value="False"/>
+  <param name="do_stereo" type="bool" value="False"/>
+  <param name="do_calc_points" type="bool" value="False"/>
+</node>
 
-
 <!-- Runtime Diagnostics Logging -->
 <node pkg="rosrecord" type="rosrecord" args="-f /hwlog/prf_runtime_automatic /diagnostics" />
 

Modified: pkg/trunk/vision/checkerboard_detector/checkerboard_detector.cpp
===================================================================
--- pkg/trunk/vision/checkerboard_detector/checkerboard_detector.cpp	2008-12-27 06:36:24 UTC (rev 8611)
+++ pkg/trunk/vision/checkerboard_detector/checkerboard_detector.cpp	2008-12-27 09:40:39 UTC (rev 8612)
@@ -58,6 +58,7 @@
     image_msgs::Image _imagemsg;
     checkerboard_detector::ObjectDetection _objdetmsg;
     image_msgs::CvBridge _cvbridge;
+    string frame_id; // tf frame id
     
     int display, uidnext;
     vector<CHECKERBOARD> vcheckers; // grid points for every checkerboard
@@ -117,6 +118,8 @@
             index++;
         }
 
+        param("frame_id",frame_id,string(""));
+
         if( maptypes.size() == 0 ) {
             ROS_ERROR("no checkerboards to detect");
             return;
@@ -245,6 +248,7 @@
         }
         
         _objdetmsg.set_objects_vec(vobjects);
+        _objdetmsg.header.frame_id = frame_id;
         publish("ObjectDetection", _objdetmsg);
 
         ROS_INFO("checkerboard: image: %dx%d (size=%d), num: %d, total: %.3fs",_caminfomsg.width,_caminfomsg.height,


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