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[Personalrobots-commit] SF.net SVN: personalrobots:[9710] pkg/trunk
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From: <hsu...@us...> - 2009-01-19 20:06:54
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Revision: 9710
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=9710&view=rev
Author: hsujohnhsu
Date: 2009-01-19 20:06:48 +0000 (Mon, 19 Jan 2009)
Log Message:
-----------
* rename gazebo controller to start with gazebo_
* reorganize launch scripts for pr2_prototype1_gazebo and pr2_gazebo.
* turn test_2dnav_wg headless, though this test is still empty.
Modified Paths:
--------------
pkg/trunk/demos/2dnav_gazebo/test/test_2dnav_wg.xml
pkg/trunk/demos/pr2_gazebo/pr2_default_controllers.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_empty.launch
pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_empty_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
Added Paths:
-----------
pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_default_controllers.launch
pkg/trunk/robot_descriptions/pr2/pr2_default_controllers/gazebo_head_torso_lift_controller.xml
Removed Paths:
-------------
pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_controllers.launch
pkg/trunk/robot_descriptions/pr2/pr2_default_controllers/controllers_head_torso_gazebo.xml
Modified: pkg/trunk/demos/2dnav_gazebo/test/test_2dnav_wg.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/test/test_2dnav_wg.xml 2009-01-19 19:58:22 UTC (rev 9709)
+++ pkg/trunk/demos/2dnav_gazebo/test/test_2dnav_wg.xml 2009-01-19 20:06:48 UTC (rev 9710)
@@ -2,7 +2,7 @@
<master auto="start" />
<!-- load robot -->
- <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_wg.launch"/>
+ <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_wg_no_x.launch"/>
<!-- load map -->
<node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/willowMap25mm.png 0.025" respawn="false" output="screen" />
Modified: pkg/trunk/demos/pr2_gazebo/pr2_default_controllers.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_default_controllers.launch 2009-01-19 19:58:22 UTC (rev 9709)
+++ pkg/trunk/demos/pr2_gazebo/pr2_default_controllers.launch 2009-01-19 20:06:48 UTC (rev 9710)
@@ -3,7 +3,7 @@
<!--node pkg="mechanism_control" type="mech.py" args="sp $(find pr2_gazebo)/controllers_2dnav_test.xml" respawn="false" output="screen" /-->
<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" output="screen"/>
- <node pkg="mechanism_control" type="mech.py" args="sp $(find pr2_default_controllers)/controllers_head_torso_gazebo.xml" output="screen"/>
+ <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/gazebo_head_torso_lift_controller.xml" output="screen"/>
<!-- Tug Arms For Navigation -->
<!--node pkg="pr2_gazebo" type="tuck_arms.py" output="screen"/-->
Modified: pkg/trunk/demos/pr2_gazebo/pr2_wg.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_wg.launch 2009-01-19 19:58:22 UTC (rev 9709)
+++ pkg/trunk/demos/pr2_gazebo/pr2_wg.launch 2009-01-19 20:06:48 UTC (rev 9710)
@@ -15,7 +15,6 @@
<node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 -5 -15 0 0 90" respawn="false" output="screen" /> <!-- load default arm controller -->
<!-- load controllers -->
- <!--include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_controllers.launch" /-->
<include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
</group>
</launch>
Modified: pkg/trunk/demos/pr2_gazebo/pr2_wg_no_x.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_wg_no_x.launch 2009-01-19 19:58:22 UTC (rev 9709)
+++ pkg/trunk/demos/pr2_gazebo/pr2_wg_no_x.launch 2009-01-19 20:06:48 UTC (rev 9710)
@@ -15,7 +15,6 @@
<node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 -5 -15 0 0 90" respawn="false" output="screen" /> <!-- load default arm controller -->
<!-- load controllers -->
- <!--include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_controllers.launch" /-->
<include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
</group>
</launch>
Deleted: pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_controllers.launch
===================================================================
--- pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_controllers.launch 2009-01-19 19:58:22 UTC (rev 9709)
+++ pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_controllers.launch 2009-01-19 20:06:48 UTC (rev 9710)
@@ -1,13 +0,0 @@
-<launch>
- <!-- use mech.py to spawn all controllers listed in controllers.xml -->
- <param name="base_controller/odom_publish_rate" value="10" />
- <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" output="screen"/>
- <node pkg="mechanism_control" type="mech.py" args="sp $(find pr2_default_controllers)/controllers_head_torso_gazebo.xml" output="screen"/>
-
- <!-- start tilting Hokuyo laser by sending it a preset code of 46, this means sawtooth profile sweep.
- for details of the profile, rates, see controller::LaserScannerControllerNode. -->
- <!--node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 20 0.872 0.3475" respawn="false" output="screen" /-->
- <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/laser_tilt_controller.xml" />
- <node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 2 .45 .40" />
-</launch>
-
Copied: pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_default_controllers.launch (from rev 9699, pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_controllers.launch)
===================================================================
--- pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_default_controllers.launch (rev 0)
+++ pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_default_controllers.launch 2009-01-19 20:06:48 UTC (rev 9710)
@@ -0,0 +1,13 @@
+<launch>
+ <!-- use mech.py to spawn all controllers listed in controllers.xml -->
+ <param name="base_controller/odom_publish_rate" value="10" />
+ <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" output="screen"/>
+ <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/gazebo_head_torso_lift_controller.xml" output="screen"/>
+
+ <!-- start tilting Hokuyo laser by sending it a preset code of 46, this means sawtooth profile sweep.
+ for details of the profile, rates, see controller::LaserScannerControllerNode. -->
+ <!--node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 20 0.872 0.3475" respawn="false" output="screen" /-->
+ <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/laser_tilt_controller.xml" />
+ <node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 2 .45 .40" />
+</launch>
+
Modified: pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_empty.launch
===================================================================
--- pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_empty.launch 2009-01-19 19:58:22 UTC (rev 9709)
+++ pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_empty.launch 2009-01-19 20:06:48 UTC (rev 9710)
@@ -19,7 +19,7 @@
<node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 0 0 0 0 0 0" respawn="false" output="screen" /> <!-- load default arm controller -->
<!-- use mech.py to spawn all controllers listed in controllers.xml -->
- <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_controllers.launch" />
+ <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_default_controllers.launch" />
</group>
</launch>
Modified: pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_empty_no_x.launch
===================================================================
--- pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_empty_no_x.launch 2009-01-19 19:58:22 UTC (rev 9709)
+++ pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_empty_no_x.launch 2009-01-19 20:06:48 UTC (rev 9710)
@@ -19,7 +19,7 @@
<node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 0 0 0 0 0 0" respawn="false" output="screen" /> <!-- load default arm controller -->
<!-- use mech.py to spawn all controllers listed in controllers.xml -->
- <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_controllers.launch" />
+ <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_default_controllers.launch" />
</group>
</launch>
Modified: pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_obs.launch
===================================================================
--- pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_obs.launch 2009-01-19 19:58:22 UTC (rev 9709)
+++ pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_obs.launch 2009-01-19 20:06:48 UTC (rev 9710)
@@ -15,7 +15,7 @@
<node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" /> <!-- load default arm controller -->
<!-- load controllers -->
- <include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
+ <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_default_controllers.launch" />
</group>
</launch>
Modified: pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_simple.launch
===================================================================
--- pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_simple.launch 2009-01-19 19:58:22 UTC (rev 9709)
+++ pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_simple.launch 2009-01-19 20:06:48 UTC (rev 9710)
@@ -19,7 +19,7 @@
<node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" /> <!-- load default arm controller -->
<!-- use mech.py to spawn all controllers listed in controllers.xml -->
- <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_controllers.launch" />
+ <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_default_controllers.launch" />
</group>
</launch>
Modified: pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_tables.launch
===================================================================
--- pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_tables.launch 2009-01-19 19:58:22 UTC (rev 9709)
+++ pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_tables.launch 2009-01-19 20:06:48 UTC (rev 9710)
@@ -19,7 +19,7 @@
<node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 -5 -15 0 0 0 0" respawn="false" output="screen" /> <!-- load default arm controller -->
<!-- use mech.py to spawn all controllers listed in controllers.xml -->
- <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_controllers.launch" />
+ <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_default_controllers.launch" />
</group>
</launch>
Modified: pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_tables_no_x.launch
===================================================================
--- pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_tables_no_x.launch 2009-01-19 19:58:22 UTC (rev 9709)
+++ pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_tables_no_x.launch 2009-01-19 20:06:48 UTC (rev 9710)
@@ -19,7 +19,7 @@
<node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 -5 -15 0 0 0 0" respawn="false" output="screen" /> <!-- load default arm controller -->
<!-- use mech.py to spawn all controllers listed in controllers.xml -->
- <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_controllers.launch" />
+ <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_default_controllers.launch" />
</group>
</launch>
Modified: pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_wg.launch
===================================================================
--- pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_wg.launch 2009-01-19 19:58:22 UTC (rev 9709)
+++ pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_wg.launch 2009-01-19 20:06:48 UTC (rev 9710)
@@ -19,7 +19,7 @@
<node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 -5 -15 0 0 0 90" respawn="false" output="screen" /> <!-- load default arm controller -->
<!-- use mech.py to spawn all controllers listed in controllers.xml -->
- <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_controllers.launch" />
+ <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_default_controllers.launch" />
</group>
</launch>
Modified: pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_wg_no_x.launch
===================================================================
--- pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_wg_no_x.launch 2009-01-19 19:58:22 UTC (rev 9709)
+++ pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_wg_no_x.launch 2009-01-19 20:06:48 UTC (rev 9710)
@@ -19,7 +19,7 @@
<node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 -5 -15 0 0 0 90" respawn="false" output="screen" /> <!-- load default arm controller -->
<!-- use mech.py to spawn all controllers listed in controllers.xml -->
- <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_controllers.launch" />
+ <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_default_controllers.launch" />
</group>
</launch>
Deleted: pkg/trunk/robot_descriptions/pr2/pr2_default_controllers/controllers_head_torso_gazebo.xml
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_default_controllers/controllers_head_torso_gazebo.xml 2009-01-19 19:58:22 UTC (rev 9709)
+++ pkg/trunk/robot_descriptions/pr2/pr2_default_controllers/controllers_head_torso_gazebo.xml 2009-01-19 20:06:48 UTC (rev 9710)
@@ -1,28 +0,0 @@
-<?xml version="1.0"?>
-
-<controllers>
-
-
- <!-- ========================================= -->
- <!-- torso_lift array -->
- <controller name="torso_lift_controller" topic="torso_lift_controller" type="JointPositionControllerNode">
- <joint name="torso_lift_joint">
- <pid p="1000" d="0" i="1" iClamp="100" />
- </joint>
- </controller>
- <!-- ========================================= -->
- <!-- head and above array -->
- <controller name="head_pan_controller" topic="head_pan_controller" type="JointPositionControllerNode">
- <listen_topic name="head_pan_commands" />
- <joint name="head_pan_joint" >
- <pid p="100" d="0" i="0" iClamp="0" />
- </joint>
- </controller>
- <controller name="head_tilt_controller" topic="head_tilt_controller" type="JointPositionControllerNode">
- <listen_topic name="head_tilt_commands" />
- <joint name="head_tilt_joint" >
- <pid p="100" d="0" i="0" iClamp="0" />
- </joint>
- </controller>
-
-</controllers>
Copied: pkg/trunk/robot_descriptions/pr2/pr2_default_controllers/gazebo_head_torso_lift_controller.xml (from rev 9698, pkg/trunk/robot_descriptions/pr2/pr2_default_controllers/controllers_head_torso_gazebo.xml)
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_default_controllers/gazebo_head_torso_lift_controller.xml (rev 0)
+++ pkg/trunk/robot_descriptions/pr2/pr2_default_controllers/gazebo_head_torso_lift_controller.xml 2009-01-19 20:06:48 UTC (rev 9710)
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+
+<controllers>
+
+
+ <!-- ========================================= -->
+ <!-- torso_lift array -->
+ <controller name="torso_lift_controller" topic="torso_lift_controller" type="JointPositionControllerNode">
+ <joint name="torso_lift_joint">
+ <pid p="1000" d="0" i="1" iClamp="100" />
+ </joint>
+ </controller>
+ <!-- ========================================= -->
+ <!-- head and above array -->
+ <controller name="head_pan_controller" topic="head_pan_controller" type="JointPositionControllerNode">
+ <listen_topic name="head_pan_commands" />
+ <joint name="head_pan_joint" >
+ <pid p="100" d="0" i="0" iClamp="0" />
+ </joint>
+ </controller>
+ <controller name="head_tilt_controller" topic="head_tilt_controller" type="JointPositionControllerNode">
+ <listen_topic name="head_tilt_commands" />
+ <joint name="head_tilt_joint" >
+ <pid p="100" d="0" i="0" iClamp="0" />
+ </joint>
+ </controller>
+
+</controllers>
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