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[Personalrobots-commit] SF.net SVN: personalrobots:[8944] pkg/trunk
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From: <hsu...@us...> - 2009-01-07 01:05:01
|
Revision: 8944
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=8944&view=rev
Author: hsujohnhsu
Date: 2009-01-07 01:04:57 +0000 (Wed, 07 Jan 2009)
Log Message:
-----------
* rename arm.launch to l_arm.launch and arm_no_x.launch to l_arm_no_x.launch, similarly added r_arm.launch and r_arm_no_x.launch with ArmTrajectoryController
* in pr2_arm_test: rename pr2_arm.xacro.xml to pr2_l_arm.xacro.xml. rename groups_arm.xml to groups_l_arm.xml. similarly added right arm xacro files.
Modified Paths:
--------------
pkg/trunk/demos/arm_gazebo/arm_grav.launch
pkg/trunk/demos/arm_gazebo/test_launch_order.tcsh
pkg/trunk/drivers/simulator/gazebo_plugin/test/test_arm.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_grav_arm.xacro.xml
Added Paths:
-----------
pkg/trunk/demos/arm_gazebo/l_arm.launch
pkg/trunk/demos/arm_gazebo/l_arm_dynamic_controller.xml
pkg/trunk/demos/arm_gazebo/l_arm_no_x.launch
pkg/trunk/demos/arm_gazebo/r_arm.launch
pkg/trunk/demos/arm_gazebo/r_arm_no_x.launch
pkg/trunk/demos/arm_gazebo/r_arm_trajectory_controller.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/groups_l_arm.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/groups_r_arm.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_l_arm.xacro.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_r_arm.xacro.xml
Removed Paths:
-------------
pkg/trunk/demos/arm_gazebo/arm.launch
pkg/trunk/demos/arm_gazebo/arm_no_x.launch
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/groups_arm.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_arm.xacro.xml
Deleted: pkg/trunk/demos/arm_gazebo/arm.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/arm.launch 2009-01-07 01:02:31 UTC (rev 8943)
+++ pkg/trunk/demos/arm_gazebo/arm.launch 2009-01-07 01:04:57 UTC (rev 8944)
@@ -1,27 +0,0 @@
-<launch>
- <group name="wg">
- <!-- send pr2_arm.xml to param server -->
- <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 $(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
- <env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(find boost)/boost/lib" />
- <env name="GAZEBO_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
- <env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
- <env name="MC_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
- </node>
-
- <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen"/>
-
- <!-- start arm controller -->
- <node pkg="mechanism_control" type="mech.py" args="sp $(find arm_gazebo)/l_arm_default_controller.xml" respawn="false" /> <!-- load default arm controller -->
-
- <!-- send arm a command -->
- <node pkg="robot_mechanism_controllers" type="control.py" args="set l_gripper_controller 0.5" respawn="false" output="screen" /> <!-- open gripper .5 radians -->
-
- <!-- for visualization -->
- <!-- node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" / -->
- </group>
-</launch>
-
Modified: pkg/trunk/demos/arm_gazebo/arm_grav.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/arm_grav.launch 2009-01-07 01:02:31 UTC (rev 8943)
+++ pkg/trunk/demos/arm_gazebo/arm_grav.launch 2009-01-07 01:04:57 UTC (rev 8944)
@@ -1,6 +1,6 @@
<launch>
<group name="wg">
- <!-- send pr2_arm.xml to param server -->
+ <!-- send pr2_grav_arm.xml to param server -->
<param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2_arm_test/pr2_grav_arm.xacro.xml'" />
<!-- -g flag runs gazebo in gui-less mode -->
Deleted: pkg/trunk/demos/arm_gazebo/arm_no_x.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/arm_no_x.launch 2009-01-07 01:02:31 UTC (rev 8943)
+++ pkg/trunk/demos/arm_gazebo/arm_no_x.launch 2009-01-07 01:04:57 UTC (rev 8944)
@@ -1,27 +0,0 @@
-<launch>
- <group name="wg">
- <!-- send pr2_arm.xml to param server -->
- <param name="robotdesc/pr2" command="$(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 $(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
- <env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(find boost)/boost/lib:$(env LD_LIBRARY_PATH)" />
- <env name="GAZEBO_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
- <env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
- <env name="MC_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
- </node>
-
- <!-- 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 -->
-
- <!-- start arm controller -->
- <node pkg="mechanism_control" type="mech.py" args="sp $(find arm_gazebo)/l_arm_default_controller.xml" respawn="false" /> <!-- load default arm controller -->
-
- <!-- send arm a command -->
- <node pkg="robot_mechanism_controllers" type="control.py" args="set l_gripper_controller 0.5" respawn="false" output="screen" /> <!-- open gripper .5 radians -->
-
- <!-- for visualization -->
- <!-- node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" / -->
- </group>
-</launch>
-
Added: pkg/trunk/demos/arm_gazebo/l_arm.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/l_arm.launch (rev 0)
+++ pkg/trunk/demos/arm_gazebo/l_arm.launch 2009-01-07 01:04:57 UTC (rev 8944)
@@ -0,0 +1,27 @@
+<launch>
+ <group name="wg">
+ <!-- send pr2_l_arm.xml to param server -->
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2_arm_test/pr2_l_arm.xacro.xml'" />
+
+ <!-- -g flag runs gazebo in gui-less mode -->
+ <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
+ <env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(find boost)/boost/lib" />
+ <env name="GAZEBO_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
+ <env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
+ <env name="MC_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
+ </node>
+
+ <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen"/>
+
+ <!-- start arm controller -->
+ <node pkg="mechanism_control" type="mech.py" args="sp $(find arm_gazebo)/l_arm_default_controller.xml" respawn="false" /> <!-- load default arm controller -->
+
+ <!-- send arm a command -->
+ <node pkg="robot_mechanism_controllers" type="control.py" args="set l_gripper_controller 0.5" respawn="false" output="screen" /> <!-- open gripper .5 radians -->
+
+ <!-- for visualization -->
+ <!-- node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" / -->
+ </group>
+</launch>
+
Added: pkg/trunk/demos/arm_gazebo/l_arm_dynamic_controller.xml
===================================================================
--- pkg/trunk/demos/arm_gazebo/l_arm_dynamic_controller.xml (rev 0)
+++ pkg/trunk/demos/arm_gazebo/l_arm_dynamic_controller.xml 2009-01-07 01:04:57 UTC (rev 8944)
@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+
+<controllers>
+ <!-- ========================================= -->
+ <!-- right arm array -->
+ <controller name="left_arm_controller" type="ArmDynamicsControllerNode">
+ <listen_topic name="left_arm_commands" />
+ <kinematics>
+ <elem key="kdl_chain_name">left_arm</elem>
+ </kinematics>
+ <map name="controller_param">
+ <elem key="kdl_chain_name">left_arm</elem>
+ </map>
+ <controller name="l_shoulder_pan_controller" topic="l_shoulder_pan_controller" type="JointEffortController">
+ <joint name="l_shoulder_pan_joint" >
+ <pid p="0" d="0" i="0" iClamp="0" />
+ </joint>
+ </controller>
+ <controller name="l_shoulder_lift_controller" topic="l_shoulder_lift_controller" type="JointEffortController">
+ <joint name="l_shoulder_lift_joint" >
+ <pid p="0" d="0" i="0" iClamp="0" />
+ </joint>
+ </controller>
+ <controller name="l_upper_arm_roll_controller" topic="l_upper_arm_roll_controller" type="JointEffortController">
+ <joint name="l_upper_arm_roll_joint" >
+ <pid p="0" d="0" i="0" iClamp="0" />
+ </joint>
+ </controller>
+ <controller name="l_elbow_flex_controller" topic="l_elbow_flex_controller" type="JointEffortController">
+ <joint name="l_elbow_flex_joint" >
+ <pid p="0" d="0" i="0" iClamp="0" />
+ </joint>
+ </controller>
+ <controller name="l_forearm_roll_controller" topic="l_forearm_roll_controller" type="JointEffortController">
+ <joint name="l_forearm_roll_joint" >
+ <pid p="0" d="0" i="0" iClamp="0" />
+ </joint>
+ </controller>
+ <controller name="l_wrist_flex_controller" topic="l_wrist_flex_controller" type="JointEffortController">
+ <joint name="l_wrist_flex_joint" >
+ <pid p="0" d="0" i="0" iClamp="0" />
+ </joint>
+ </controller>
+ <controller name="l_wrist_roll_controller" topic="l_wrist_roll_controller" type="JointEffortController">
+ <joint name="l_wrist_roll_joint" >
+ <pid p="0" d="0" i="0" iClamp="0" />
+ </joint>
+ </controller>
+ </controller>
+ <controller name="l_gripper_controller" topic="l_gripper_controller" type="JointPositionControllerNode">
+ <joint name="l_gripper_l_finger_joint">
+ <pid p="0.5" d="0.000001" i="0.001" iClamp="0.01" />
+ </joint>
+ </controller>
+</controllers>
Added: pkg/trunk/demos/arm_gazebo/l_arm_no_x.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/l_arm_no_x.launch (rev 0)
+++ pkg/trunk/demos/arm_gazebo/l_arm_no_x.launch 2009-01-07 01:04:57 UTC (rev 8944)
@@ -0,0 +1,27 @@
+<launch>
+ <group name="wg">
+ <!-- send pr2_l_arm.xml to param server -->
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2_arm_test/pr2_l_arm.xacro.xml'" />
+
+ <!-- -g flag runs gazebo in gui-less mode -->
+ <node pkg="gazebo" type="gazebo" args="-r $(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
+ <env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(find boost)/boost/lib:$(env LD_LIBRARY_PATH)" />
+ <env name="GAZEBO_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
+ <env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
+ <env name="MC_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
+ </node>
+
+ <!-- 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 -->
+
+ <!-- start arm controller -->
+ <node pkg="mechanism_control" type="mech.py" args="sp $(find arm_gazebo)/l_arm_default_controller.xml" respawn="false" /> <!-- load default arm controller -->
+
+ <!-- send arm a command -->
+ <node pkg="robot_mechanism_controllers" type="control.py" args="set l_gripper_controller 0.5" respawn="false" output="screen" /> <!-- open gripper .5 radians -->
+
+ <!-- for visualization -->
+ <!-- node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" / -->
+ </group>
+</launch>
+
Copied: pkg/trunk/demos/arm_gazebo/r_arm.launch (from rev 8893, pkg/trunk/demos/arm_gazebo/arm.launch)
===================================================================
--- pkg/trunk/demos/arm_gazebo/r_arm.launch (rev 0)
+++ pkg/trunk/demos/arm_gazebo/r_arm.launch 2009-01-07 01:04:57 UTC (rev 8944)
@@ -0,0 +1,30 @@
+<launch>
+ <group name="wg">
+ <!-- send pr2_r_arm.xml to param server -->
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2_arm_test/pr2_r_arm.xacro.xml'" />
+
+ <!-- -g flag runs gazebo in gui-less mode -->
+ <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
+ <env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(find boost)/boost/lib" />
+ <env name="GAZEBO_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
+ <env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
+ <env name="MC_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
+ </node>
+
+ <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen"/>
+
+ <!-- start arm controller -->
+ <!--
+ <node pkg="mechanism_control" type="mech.py" args="sp $(find arm_gazebo)/r_arm_default_controller.xml" respawn="false" />
+ -->
+ <node pkg="mechanism_control" type="mech.py" args="sp $(find arm_gazebo)/r_arm_trajectory_controller.xml" respawn="false" />
+
+ <!-- send arm a command -->
+ <node pkg="robot_mechanism_controllers" type="control.py" args="set r_gripper_controller 0.5" respawn="false" output="screen" /> <!-- open gripper .5 radians -->
+
+ <!-- for visualization -->
+ <!-- node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" / -->
+ </group>
+</launch>
+
Copied: pkg/trunk/demos/arm_gazebo/r_arm_no_x.launch (from rev 8929, pkg/trunk/demos/arm_gazebo/arm_no_x.launch)
===================================================================
--- pkg/trunk/demos/arm_gazebo/r_arm_no_x.launch (rev 0)
+++ pkg/trunk/demos/arm_gazebo/r_arm_no_x.launch 2009-01-07 01:04:57 UTC (rev 8944)
@@ -0,0 +1,30 @@
+<launch>
+ <group name="wg">
+ <!-- send pr2_r_arm.xml to param server -->
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find wg_robot_description)/pr2_arm_test/pr2_r_arm.xacro.xml'" />
+
+ <!-- -g flag runs gazebo in gui-less mode -->
+ <node pkg="gazebo" type="gazebo" args="-r $(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
+ <env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(find boost)/boost/lib:$(env LD_LIBRARY_PATH)" />
+ <env name="GAZEBO_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
+ <env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
+ <env name="MC_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
+ </node>
+
+ <!-- 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 -->
+
+ <!-- start arm controller -->
+ <!--
+ <node pkg="mechanism_control" type="mech.py" args="sp $(find arm_gazebo)/r_arm_default_controller.xml" respawn="false" />
+ -->
+ <node pkg="mechanism_control" type="mech.py" args="sp $(find arm_gazebo)/r_arm_trajectory_controller.xml" respawn="false" />
+
+ <!-- send arm a command -->
+ <node pkg="robot_mechanism_controllers" type="control.py" args="set r_gripper_controller 0.5" respawn="false" output="screen" /> <!-- open gripper .5 radians -->
+
+ <!-- for visualization -->
+ <!-- node pkg="pr2_gui" type="pr2_gui" respawn="false" output="screen" / -->
+ </group>
+</launch>
+
Added: pkg/trunk/demos/arm_gazebo/r_arm_trajectory_controller.xml
===================================================================
--- pkg/trunk/demos/arm_gazebo/r_arm_trajectory_controller.xml (rev 0)
+++ pkg/trunk/demos/arm_gazebo/r_arm_trajectory_controller.xml 2009-01-07 01:04:57 UTC (rev 8944)
@@ -0,0 +1,56 @@
+<?xml version="1.0"?>
+
+<controllers>
+ <!-- ========================================= -->
+ <!-- right arm array -->
+ <controller name="right_arm_controller" type="ArmTrajectoryControllerNode">
+ <listen_topic name="arm_trajectory_command" />
+ <kinematics>
+ <elem key="kdl_chain_name">right_arm</elem>
+ </kinematics>
+ <map name="controller_param">
+ <elem key="kdl_chain_name">right_arm</elem>
+ </map>
+ <controller name="r_shoulder_pan_controller" topic="r_shoulder_pan_controller" type="JointPositionController">
+ <joint name="r_shoulder_pan_joint" >
+ <pid p="10.0" d="2.0" i="1.0" iClamp="4.0" />
+ </joint>
+ </controller>
+ <controller name="r_shoulder_lift_controller" topic="r_shoulder_pitch_controller" type="JointPositionController">
+ <joint name="r_shoulder_lift_joint" >
+ <pid p="10.0" d="2.0" i="1.0" iClamp="4.0" />
+ </joint>
+ </controller>
+ <controller name="r_upperarm_roll_controller" topic="r_upperarm_roll_controller" type="JointPositionController">
+ <joint name="r_upper_arm_roll_joint" >
+ <pid p="4.0" d="1.0" i="0.5" iClamp="1.0" />
+ </joint>
+ </controller>
+ <controller name="r_elbow_controller" topic="r_elbow_flex_controller" type="JointPositionController">
+ <joint name="r_elbow_flex_joint" >
+ <pid p="10.0" d="2.0" i="1.0" iClamp="4.0" />
+ </joint>
+ </controller>
+ <controller name="r_forearm_roll_controller" topic="r_forearm_roll_controller" type="JointPositionController">
+ <joint name="r_forearm_roll_joint" >
+ <pid p="4.0" d="1.0" i="0.5" iClamp="1.0" />
+ </joint>
+ </controller>
+
+ <controller name="r_wrist_flex_controller" type="JointPositionController">
+ <joint name="r_wrist_flex_joint">
+ <pid p="4" i="0.5" d="2.0" iClamp="4.0" />
+ </joint>
+ </controller>
+
+ <controller name="r_wrist_roll_controller" type="JointPositionController">
+ <joint name="r_wrist_roll_joint">
+ <pid p="4" i="0.5" d="2.0" iClamp="4.0" />
+ </joint>
+ </controller>
+
+
+ <trajectory interpolation="linear" />
+
+ </controller>
+</controllers>
Modified: pkg/trunk/demos/arm_gazebo/test_launch_order.tcsh
===================================================================
--- pkg/trunk/demos/arm_gazebo/test_launch_order.tcsh 2009-01-07 01:02:31 UTC (rev 8943)
+++ pkg/trunk/demos/arm_gazebo/test_launch_order.tcsh 2009-01-07 01:04:57 UTC (rev 8944)
@@ -13,7 +13,7 @@
echo "----------------roslaunch xml"
-`rospack find xacro`/xacro.py `rospack find wg_robot_description`/pr2_arm_test/pr2_arm.xacro.xml > pr2_arm.xml
+`rospack find xacro`/xacro.py `rospack find wg_robot_description`/pr2_arm_test/pr2_r_arm.xacro.xml > pr2_arm.xml
#$ROS_ROOT/bin/rosparam set robotdesc/pr2
python ./setparam.py
@@ -21,9 +21,9 @@
`rospack find gazebo_plugin`/urdf2factory robotdesc/pr2
echo "----------------spawn controller"
-`rospack find mechanism_control`/scripts/mech.py sp `rospack find arm_gazebo`/l_arm_default_controller.xml
+`rospack find mechanism_control`/scripts/mech.py sp `rospack find arm_gazebo`/r_arm_default_controller.xml
echo "----------------set gripper gap"
-`rospack find robot_mechanism_controllers`/scripts/control.py set l_gripper_controller 0.0
+`rospack find robot_mechanism_controllers`/scripts/control.py set r_gripper_controller 0.0
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/test/test_arm.xml
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/test/test_arm.xml 2009-01-07 01:02:31 UTC (rev 8943)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/test/test_arm.xml 2009-01-07 01:04:57 UTC (rev 8944)
@@ -2,7 +2,7 @@
<master auto="start" />
<!-- send single_link.xml to param server -->
- <include file="$(find arm_gazebo)/arm_no_x.launch" />
+ <include file="$(find arm_gazebo)/l_arm_no_x.launch" />
<!--<node pkg="gazebo_plugin" type="groundtruthtransform" args="" respawn="true" />-->
<test test-name="gazebo_plugin_test_arm" pkg="gazebo_plugin" type="test_arm.py" />
Deleted: pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/groups_arm.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/groups_arm.xml 2009-01-07 01:02:31 UTC (rev 8943)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/groups_arm.xml 2009-01-07 01:04:57 UTC (rev 8944)
@@ -1,23 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="pr2"><!-- name of the robot-->
-
- <group name="left_arm" flags="planning kinematic">
- l_shoulder_pan_link
- l_shoulder_lift_link
- l_upper_arm_roll_link
- l_elbow_flex_link
- l_forearm_roll_link
- l_wrist_flex_link
- l_wrist_roll_link
-
- <map name="RRT" flag="planning">
- <elem key="range" value="0.75" />
- </map>
-
- <map name="LazyRRT" flag="planning">
- <elem key="range" value="0.75" />
- </map>
- </group>
-
-</robot>
Copied: pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/groups_l_arm.xml (from rev 8893, pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/groups_arm.xml)
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/groups_l_arm.xml (rev 0)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/groups_l_arm.xml 2009-01-07 01:04:57 UTC (rev 8944)
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+
+<robot name="pr2"><!-- name of the robot-->
+
+ <group name="left_arm" flags="planning kinematic">
+ l_shoulder_pan_link
+ l_shoulder_lift_link
+ l_upper_arm_roll_link
+ l_elbow_flex_link
+ l_forearm_roll_link
+ l_wrist_flex_link
+ l_wrist_roll_link
+
+ <map name="RRT" flag="planning">
+ <elem key="range" value="0.75" />
+ </map>
+
+ <map name="LazyRRT" flag="planning">
+ <elem key="range" value="0.75" />
+ </map>
+ </group>
+
+</robot>
Added: pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/groups_r_arm.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/groups_r_arm.xml (rev 0)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/groups_r_arm.xml 2009-01-07 01:04:57 UTC (rev 8944)
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+
+<robot name="pr2"><!-- name of the robot-->
+
+ <group name="right_arm" flags="planning kinematic">
+ r_shoulder_pan_link
+ r_shoulder_lift_link
+ r_upper_arm_roll_link
+ r_elbow_flex_link
+ r_forearm_roll_link
+ r_wrist_flex_link
+ r_wrist_roll_link
+
+ <map name="RRT" flag="planning">
+ <elem key="range" value="0.75" />
+ </map>
+
+ <map name="LazyRRT" flag="planning">
+ <elem key="range" value="0.75" />
+ </map>
+ </group>
+
+</robot>
Deleted: pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_arm.xacro.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_arm.xacro.xml 2009-01-07 01:02:31 UTC (rev 8943)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_arm.xacro.xml 2009-01-07 01:04:57 UTC (rev 8944)
@@ -1,77 +0,0 @@
-<?xml version="1.0"?>
-<robot name="pr2"
- xmlns:xi="http://www.w3.org/2001/XInclude"
- xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
- xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
- xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
- xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
- xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
- xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
-
-
- <!-- declare the path where all models/textures/materials are stored -->
- <resource location="ros-pkg://wg_robot_description/models/pr2"/>
-
- <include filename="../pr2_robot_defs/arm_defs.xml" />
- <include filename="../pr2_robot_defs/gripper_defs.xml" />
- <include filename="../pr2_robot_defs/gazebo_defs.xml" />
- <include filename="./groups_arm.xml" />
-
- <pr2_arm side="l" reflect="1" parent="base">
- <origin xyz="0.0 0.0 1.0" rpy="0 0 0" />
- </pr2_arm>
- <pr2_gripper side="l" parent="l_wrist_roll" />
-
- <!-- Solid Base -->
- <joint name="base_joint" type="planar">
- </joint>
- <link name="base_link"><!-- link specifying the base of the robot -->
- <parent name=" world" />
- <!-- rotation of a local coordinate frame attached to the link with respect to a global coordinate frame -->
- <origin xyz=" 0 0 0.002 " rpy=" 0 0 0" /> <!-- position of a local coordinate frame attached to the link with respect to the parent link's coordinate frame -->
- <joint name="base_joint" />
- <inertial>
- <mass value="1000" />
- <com xyz=" 0 0 0 " /> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
- <inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000" />
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0 " /> <!-- location defined with respect to the link origin in a local coordinate frame -->
- <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
- <map name="gazebo_material" flag="gazebo">
- <elem key="material">Gazebo/White</elem>
- </map>
- <geometry name="pr2_base_mesh_file">
- <mesh scale="20 20 0.01" />
- </geometry>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0.0 0.0 0.0 " /> <!-- default box is centered at the origin -->
- <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
- <geometry name="base_collision_geom"> <!-- think about putting mesh here as well -->
- <box size="20 20 0.01" />
- </geometry>
- </collision>
- </link>
-
- <map name="gazebo_material" flag="gazebo">
- <verbatim>
- <!-- ros_p3d for position groundtruth -->
- <controller:ros_p3d name="p3d_l_wrist_controller" plugin="libros_p3d.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <bodyName>l_gripper_palm_link</bodyName>
- <topicName>l_gripper_palm_pose_ground_truth</topicName>
- <frameName>map</frameName>
- <interface:position name="p3d_l_wrist_position"/>
- </controller:ros_p3d>
- </verbatim>
- </map>
-
-
-</robot>
Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_grav_arm.xacro.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_grav_arm.xacro.xml 2009-01-07 01:02:31 UTC (rev 8943)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_grav_arm.xacro.xml 2009-01-07 01:04:57 UTC (rev 8944)
@@ -20,7 +20,7 @@
<include filename="../pr2_robot_defs/arm_grav_defs.xml" />
<include filename="../pr2_robot_defs/gripper_defs.xml" />
<include filename="../pr2_robot_defs/gazebo_defs.xml" />
- <include filename="./groups_arm.xml" />
+ <include filename="./groups_l_arm.xml" />
<pr2_arm side="l" reflect="1" parent="base">
<origin xyz="0.0 0.0 1.0" rpy="0 0 0" />
Copied: pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_l_arm.xacro.xml (from rev 8893, pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_arm.xacro.xml)
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_l_arm.xacro.xml (rev 0)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_l_arm.xacro.xml 2009-01-07 01:04:57 UTC (rev 8944)
@@ -0,0 +1,77 @@
+<?xml version="1.0"?>
+<robot name="pr2"
+ xmlns:xi="http://www.w3.org/2001/XInclude"
+ xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+ xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+ xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
+
+
+ <!-- declare the path where all models/textures/materials are stored -->
+ <resource location="ros-pkg://wg_robot_description/models/pr2"/>
+
+ <include filename="../pr2_robot_defs/arm_defs.xml" />
+ <include filename="../pr2_robot_defs/gripper_defs.xml" />
+ <include filename="../pr2_robot_defs/gazebo_defs.xml" />
+ <include filename="./groups_l_arm.xml" />
+
+ <pr2_arm side="l" reflect="1" parent="base">
+ <origin xyz="0.0 0.0 1.0" rpy="0 0 0" />
+ </pr2_arm>
+ <pr2_gripper side="l" parent="l_wrist_roll" />
+
+ <!-- Solid Base -->
+ <joint name="base_joint" type="planar">
+ </joint>
+ <link name="base_link"><!-- link specifying the base of the robot -->
+ <parent name=" world" />
+ <!-- rotation of a local coordinate frame attached to the link with respect to a global coordinate frame -->
+ <origin xyz=" 0 0 0.002 " rpy=" 0 0 0" /> <!-- position of a local coordinate frame attached to the link with respect to the parent link's coordinate frame -->
+ <joint name="base_joint" />
+ <inertial>
+ <mass value="1000" />
+ <com xyz=" 0 0 0 " /> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
+ <inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0 " /> <!-- location defined with respect to the link origin in a local coordinate frame -->
+ <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
+ <map name="gazebo_material" flag="gazebo">
+ <elem key="material">Gazebo/White</elem>
+ </map>
+ <geometry name="pr2_base_mesh_file">
+ <mesh scale="20 20 0.01" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0.0 0.0 0.0 " /> <!-- default box is centered at the origin -->
+ <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
+ <geometry name="base_collision_geom"> <!-- think about putting mesh here as well -->
+ <box size="20 20 0.01" />
+ </geometry>
+ </collision>
+ </link>
+
+ <map name="gazebo_material" flag="gazebo">
+ <verbatim>
+ <!-- ros_p3d for position groundtruth -->
+ <controller:ros_p3d name="p3d_l_wrist_controller" plugin="libros_p3d.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>1000.0</updateRate>
+ <bodyName>l_gripper_palm_link</bodyName>
+ <topicName>l_gripper_palm_pose_ground_truth</topicName>
+ <frameName>map</frameName>
+ <interface:position name="p3d_l_wrist_position"/>
+ </controller:ros_p3d>
+ </verbatim>
+ </map>
+
+
+</robot>
Added: pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_r_arm.xacro.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_r_arm.xacro.xml (rev 0)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_r_arm.xacro.xml 2009-01-07 01:04:57 UTC (rev 8944)
@@ -0,0 +1,77 @@
+<?xml version="1.0"?>
+<robot name="pr2"
+ xmlns:xi="http://www.w3.org/2001/XInclude"
+ xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+ xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+ xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
+
+
+ <!-- declare the path where all models/textures/materials are stored -->
+ <resource location="ros-pkg://wg_robot_description/models/pr2"/>
+
+ <include filename="../pr2_robot_defs/arm_defs.xml" />
+ <include filename="../pr2_robot_defs/gripper_defs.xml" />
+ <include filename="../pr2_robot_defs/gazebo_defs.xml" />
+ <include filename="./groups_r_arm.xml" />
+
+ <pr2_arm side="r" reflect="1" parent="base">
+ <origin xyz="0.0 0.0 1.0" rpy="0 0 0" />
+ </pr2_arm>
+ <pr2_gripper side="r" parent="r_wrist_roll" />
+
+ <!-- Solid Base -->
+ <joint name="base_joint" type="planar">
+ </joint>
+ <link name="base_link"><!-- link specifying the base of the robot -->
+ <parent name=" world" />
+ <!-- rotation of a local coordinate frame attached to the link with respect to a global coordinate frame -->
+ <origin xyz=" 0 0 0.002 " rpy=" 0 0 0" /> <!-- position of a local coordinate frame attached to the link with respect to the parent link's coordinate frame -->
+ <joint name="base_joint" />
+ <inertial>
+ <mass value="1000" />
+ <com xyz=" 0 0 0 " /> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
+ <inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0 " /> <!-- location defined with respect to the link origin in a local coordinate frame -->
+ <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
+ <map name="gazebo_material" flag="gazebo">
+ <elem key="material">Gazebo/White</elem>
+ </map>
+ <geometry name="pr2_base_mesh_file">
+ <mesh scale="20 20 0.01" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0.0 0.0 0.0 " /> <!-- default box is centered at the origin -->
+ <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
+ <geometry name="base_collision_geom"> <!-- think about putting mesh here as well -->
+ <box size="20 20 0.01" />
+ </geometry>
+ </collision>
+ </link>
+
+ <map name="gazebo_material" flag="gazebo">
+ <verbatim>
+ <!-- ros_p3d for position groundtruth -->
+ <controller:ros_p3d name="p3d_r_wrist_controller" plugin="libros_p3d.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>1000.0</updateRate>
+ <bodyName>r_gripper_palm_link</bodyName>
+ <topicName>r_gripper_palm_pose_ground_truth</topicName>
+ <frameName>map</frameName>
+ <interface:position name="p3d_r_wrist_position"/>
+ </controller:ros_p3d>
+ </verbatim>
+ </map>
+
+
+</robot>
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