[Personalrobots-commit] SF.net SVN: personalrobots:[10729] pkg/trunk

[<rob...@us...>]

Revision: 10729
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=10729&view=rev
Author:   rob_wheeler
Date:     2009-02-07 00:40:40 +0000 (Sat, 07 Feb 2009)

Log Message:
-----------
Add launch script that switches to realtime interface prior to launching
pr2_etherCAT.

Modified Paths:
--------------
    pkg/trunk/drivers/motor/ethercat_hardware/src/ethercat_hardware.cpp
    pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/pre.launch
    pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/prf.launch
    pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/prg.launch

Added Paths:
-----------
    pkg/trunk/robot_control_loops/pr2_etherCAT/scripts/launch

Modified: pkg/trunk/drivers/motor/ethercat_hardware/src/ethercat_hardware.cpp
===================================================================
--- pkg/trunk/drivers/motor/ethercat_hardware/src/ethercat_hardware.cpp	2009-02-07 00:38:39 UTC (rev 10728)
+++ pkg/trunk/drivers/motor/ethercat_hardware/src/ethercat_hardware.cpp	2009-02-07 00:40:40 UTC (rev 10729)
@@ -81,7 +81,7 @@
     ROS_BREAK();
   }
 
-#if 0
+#if 1
   if (set_socket_timeout(ni_, 1000*500))
   {
     ROS_FATAL("Unable to change socket timeout");

Added: pkg/trunk/robot_control_loops/pr2_etherCAT/scripts/launch
===================================================================
--- pkg/trunk/robot_control_loops/pr2_etherCAT/scripts/launch	                        (rev 0)
+++ pkg/trunk/robot_control_loops/pr2_etherCAT/scripts/launch	2009-02-07 00:40:40 UTC (rev 10729)
@@ -0,0 +1,14 @@
+#!/bin/sh
+
+ifconfig eth0 > /dev/null 2>&1
+if [ "$?" = "0" ]; then
+  echo "In non-realtime mode"
+  echo "Switching to realtime"
+  /usr/local/rtnet/sbin/rtup
+  sleep 5
+else
+  echo "In realtime mode"
+fi
+
+echo "Launching pr2_etherCAT [$PWD] with options $*"
+../pr2_etherCAT $*


Property changes on: pkg/trunk/robot_control_loops/pr2_etherCAT/scripts/launch
___________________________________________________________________
Added: svn:executable
   + *

Modified: pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/pre.launch
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/pre.launch	2009-02-07 00:38:39 UTC (rev 10728)
+++ pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/pre.launch	2009-02-07 00:40:40 UTC (rev 10729)
@@ -6,7 +6,7 @@
   <include file="pre.machine" />
 
 <!-- pr2_etherCAT -->
-  <node machine="xenomai_root" pkg="pr2_etherCAT" type="pr2_etherCAT" args="-i rteth0 -x /robotdesc/pr2"/>
+  <node machine="xenomai_root" pkg="pr2_etherCAT" type="launch" args="-i rteth0 -x /robotdesc/pr2"/>
 
 <!-- PR2 Calibration -->
   <include file="$(find pr2_prototype1)/calibrate.launch" />

Modified: pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/prf.launch
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/prf.launch	2009-02-07 00:38:39 UTC (rev 10728)
+++ pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/prf.launch	2009-02-07 00:40:40 UTC (rev 10729)
@@ -6,7 +6,7 @@
   <include file="prf.machine" />
 
 <!-- pr2_etherCAT -->
-  <node machine="xenomai_root" pkg="pr2_etherCAT" type="pr2_etherCAT" args="-i rteth0 -x /robotdesc/pr2"/>
+  <node machine="xenomai_root" pkg="pr2_etherCAT" type="launch" args="-i rteth0 -x /robotdesc/pr2"/>
 
 <!-- PR2 Calibration -->
   <include file="$(find pr2_full)/calibrate.launch" />

Modified: pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/prg.launch
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/prg.launch	2009-02-07 00:38:39 UTC (rev 10728)
+++ pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/prg.launch	2009-02-07 00:40:40 UTC (rev 10729)
@@ -6,7 +6,7 @@
   <include file="prg.machine" />
 
 <!-- pr2_etherCAT -->
-  <node machine="xenomai_root" pkg="pr2_etherCAT" type="pr2_etherCAT" args="-i rteth0 -x /robotdesc/pr2"/>
+  <node machine="xenomai_root" pkg="pr2_etherCAT" type="launch" args="-i rteth0 -x /robotdesc/pr2"/>
 
 <!-- PR2 Calibration -->
   <include file="$(find pr2_prototype1)/calibrate.launch" />


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