[Personalrobots-commit] SF.net SVN: personalrobots:[8878] pkg/trunk

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

Revision: 8878
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=8878&view=rev
Author:   rdiankov
Date:     2009-01-06 10:54:58 +0000 (Tue, 06 Jan 2009)

Log Message:
-----------
updated prf with new cameras, added checkerboard detection launch file

Modified Paths:
--------------
    pkg/trunk/openrave_planning/ormanipulation/startchecker.ros.xml
    pkg/trunk/robot_descriptions/pr2_alpha/prf.launch
    pkg/trunk/robot_descriptions/wg_robot_description/laser_tilt/control_laser_tilt_roslaunch.xml

Added Paths:
-----------
    pkg/trunk/calibration/laser_camera_calibration/startcalib.ros.xml

Added: pkg/trunk/calibration/laser_camera_calibration/startcalib.ros.xml
===================================================================
--- pkg/trunk/calibration/laser_camera_calibration/startcalib.ros.xml	                        (rev 0)
+++ pkg/trunk/calibration/laser_camera_calibration/startcalib.ros.xml	2009-01-06 10:54:58 UTC (rev 8878)
@@ -0,0 +1,24 @@
+<launch>
+  <machine name="localhost_cameras" address="localhost" default="false"/>  
+
+<!--   <node machine="cameras" name="dcam" pkg="dcam" type="dcam" respawn="false">
+    <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> -->
+  <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="0.10740"/>
+    <param name="rect0_size_y" type="double" value="0.10757"/>
+    <param name="grid0_size_x" type="int" value="6"/>
+    <param name="grid0_size_y" type="int" value="8"/>
+    <param name="type0" type="string" value="data/ricebox.kinbody.xml"/>
+    <node machine="localhost_cameras" pkg="checkerboard_detector" type="checkerboard_detector" respawn="true" output="screen">
+      <remap from="CamInfo" to="/stereo/left/cam_info"/>
+      <remap from="Image" to="/stereo/left/image_rect"/>
+<!--       <env name="DISPLAY" value=":0.0"/> -->
+    </node>
+  </group>
+</launch>

Modified: pkg/trunk/openrave_planning/ormanipulation/startchecker.ros.xml
===================================================================
--- pkg/trunk/openrave_planning/ormanipulation/startchecker.ros.xml	2009-01-06 10:53:48 UTC (rev 8877)
+++ pkg/trunk/openrave_planning/ormanipulation/startchecker.ros.xml	2009-01-06 10:54:58 UTC (rev 8878)
@@ -16,8 +16,8 @@
     <param name="grid0_size_y" type="int" value="3"/>
     <param name="type0" type="string" value="data/ricebox.kinbody.xml"/>
     <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"/>
+      <remap from="CamInfo" to="/stereo/left/cam_info"/>
+      <remap from="Image" to="/stereo/left/image_rect"/>
 <!--       <env name="DISPLAY" value=":0.0"/> -->
     </node>
   </group>

Modified: pkg/trunk/robot_descriptions/pr2_alpha/prf.launch
===================================================================
--- pkg/trunk/robot_descriptions/pr2_alpha/prf.launch	2009-01-06 10:53:48 UTC (rev 8877)
+++ pkg/trunk/robot_descriptions/pr2_alpha/prf.launch	2009-01-06 10:54:58 UTC (rev 8878)
@@ -63,8 +63,8 @@
 -->
 
 <!-- DCAM-->
-<node machine="three" name="dcam" pkg="dcam" type="dcam" respawn="false">
-  <!-- video_mode should be one of the following:
+  <group ns="stereo">
+      <!-- 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.
@@ -74,12 +74,16 @@
          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>
+    <param name="videre_mode" type="str" value="rectified"/>
+    <param name="do_colorize" type="bool" value="False"/>
+    <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"/>
+  </group>
 
+  <node machine="three" pkg="dcam" type="stereodcam" respawn="false"/>
+  <node machine="three" pkg="stereo_image_proc" type="stereoproc" respawn="false"/>
+
 <!-- Runtime Diagnostics Logging -->
 <node pkg="rosrecord" type="rosrecord" args="-f /hwlog/prf_runtime_automatic /diagnostics" />
 

Modified: pkg/trunk/robot_descriptions/wg_robot_description/laser_tilt/control_laser_tilt_roslaunch.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/laser_tilt/control_laser_tilt_roslaunch.xml	2009-01-06 10:53:48 UTC (rev 8877)
+++ pkg/trunk/robot_descriptions/wg_robot_description/laser_tilt/control_laser_tilt_roslaunch.xml	2009-01-06 10:54:58 UTC (rev 8878)
@@ -1,4 +1,4 @@
 <launch> 
-    <node pkg="mechanism_control" type="spawner.py" args="laser_tilt_controller.xml" />
-    <node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 15 .75 .25" />
+    <node pkg="mechanism_control" type="spawner.py" args="$(find wg_robot_description)/laser_tilt/laser_tilt_controller.xml" />
+    <node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 10 .75 .25" />
 </launch>


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.