[Personalrobots-commit] SF.net SVN: personalrobots:[10946] pkg/trunk

[<hsu...@us...>]

Revision: 10946
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=10946&view=rev
Author:   hsujohnhsu
Date:     2009-02-10 21:55:05 +0000 (Tue, 10 Feb 2009)

Log Message:
-----------
rospy.subscribe_topic() --> rospy.Subscriber()

Modified Paths:
--------------
    pkg/trunk/demos/test_2dnav_gazebo/set_goal.py
    pkg/trunk/drivers/simulator/test_gazebo_plugin/test_pendulum.py
    pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.py
    pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_arm.py
    pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base_odomw_gt.py
    pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base_odomx_gt.py
    pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base_odomxy_gt.py
    pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base_odomxyw_gt.py
    pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base_odomy_gt.py
    pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base_vw_gt.py
    pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.py
    pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.py

Modified: pkg/trunk/demos/test_2dnav_gazebo/set_goal.py
===================================================================
--- pkg/trunk/demos/test_2dnav_gazebo/set_goal.py	2009-02-10 21:53:18 UTC (rev 10945)
+++ pkg/trunk/demos/test_2dnav_gazebo/set_goal.py	2009-02-10 21:55:05 UTC (rev 10946)
@@ -161,10 +161,10 @@
         print "LNK\n"
         #pub_base = rospy.Publisher("cmd_vel", BaseVel)
         pub_goal = rospy.Publisher("goal", Planner2DGoal) #received by wavefront_player or equivalent
-        rospy.subscribe_topic("base_pose_ground_truth", PoseWithRatesStamped, self.p3dInput)
-        rospy.subscribe_topic("odom"                  , RobotBase2DOdom     , self.odomInput)
-        rospy.subscribe_topic("base_bumper"           , String              , self.bumpedInput)
-        rospy.subscribe_topic("torso_lift_bumper"     , String              , self.bumpedInput)
+        rospy.Subscriber("base_pose_ground_truth", PoseWithRatesStamped, self.p3dInput)
+        rospy.Subscriber("odom"                  , RobotBase2DOdom     , self.odomInput)
+        rospy.Subscriber("base_bumper"           , String              , self.bumpedInput)
+        rospy.Subscriber("torso_lift_bumper"     , String              , self.bumpedInput)
 
         rospy.init_node(NAME, anonymous=True)
 

Modified: pkg/trunk/drivers/simulator/test_gazebo_plugin/test_pendulum.py
===================================================================
--- pkg/trunk/drivers/simulator/test_gazebo_plugin/test_pendulum.py	2009-02-10 21:53:18 UTC (rev 10945)
+++ pkg/trunk/drivers/simulator/test_gazebo_plugin/test_pendulum.py	2009-02-10 21:55:05 UTC (rev 10946)
@@ -140,8 +140,8 @@
 
     def test_pendulum(self):
         print "LNK\n"
-        rospy.subscribe_topic("link1_pose", PoseWithRatesStamped, self.p3dInput1)
-        rospy.subscribe_topic("link2_pose", PoseWithRatesStamped, self.p3dInput2)
+        rospy.Subscriber("link1_pose", PoseWithRatesStamped, self.p3dInput1)
+        rospy.Subscriber("link2_pose", PoseWithRatesStamped, self.p3dInput2)
         rospy.init_node(NAME, anonymous=True)
         timeout_t = time.time() + 20.0
         while not rospy.is_shutdown() and not self.success and time.time() < timeout_t:

Modified: pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.py
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.py	2009-02-10 21:53:18 UTC (rev 10945)
+++ pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.py	2009-02-10 21:55:05 UTC (rev 10946)
@@ -90,7 +90,7 @@
     
     def test_slide(self):
         print "LINK\n"
-        rospy.subscribe_topic("base_pose_ground_truth", PoseWithRatesStamped, self.positionInput)
+        rospy.Subscriber("base_pose_ground_truth", PoseWithRatesStamped, self.positionInput)
         rospy.init_node(NAME, anonymous=True)
         timeout_t = time.time() + 50.0
         while not rospy.is_shutdown() and not self.success and not self.fail and time.time() < timeout_t:

Modified: pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_arm.py
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_arm.py	2009-02-10 21:53:18 UTC (rev 10945)
+++ pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_arm.py	2009-02-10 21:55:05 UTC (rev 10946)
@@ -205,8 +205,8 @@
         print "LNK\n"
         pub_arm = rospy.Publisher("left_arm_commands", JointPosCmd)
         pub_gripper = rospy.Publisher("l_gripper_controller/set_command", Float64)
-        rospy.subscribe_topic("l_gripper_palm_pose_ground_truth", PoseWithRatesStamped, self.palmP3dInput)
-        rospy.subscribe_topic("l_gripper_l_finger_pose_ground_truth", PoseWithRatesStamped, self.fngrP3dInput)
+        rospy.Subscriber("l_gripper_palm_pose_ground_truth", PoseWithRatesStamped, self.palmP3dInput)
+        rospy.Subscriber("l_gripper_l_finger_pose_ground_truth", PoseWithRatesStamped, self.fngrP3dInput)
         rospy.init_node(NAME, anonymous=True)
         timeout_t = time.time() + TEST_TIMEOUT
         while not rospy.is_shutdown() and (not self.palm_success or not self.fngr_success) and time.time() < timeout_t:

Modified: pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base_odomw_gt.py
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base_odomw_gt.py	2009-02-10 21:53:18 UTC (rev 10945)
+++ pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base_odomw_gt.py	2009-02-10 21:55:05 UTC (rev 10946)
@@ -212,8 +212,8 @@
     def test_base(self):
         print "LNK\n"
         pub = rospy.Publisher("cmd_vel", PoseDot)
-        rospy.subscribe_topic("base_pose_ground_truth", PoseWithRatesStamped, self.p3dInput)
-        rospy.subscribe_topic("odom",                   RobotBase2DOdom,      self.odomInput)
+        rospy.Subscriber("base_pose_ground_truth", PoseWithRatesStamped, self.p3dInput)
+        rospy.Subscriber("odom",                   RobotBase2DOdom,      self.odomInput)
         rospy.init_node(NAME, anonymous=True)
         timeout_t = time.time() + 10.0
         while not rospy.is_shutdown() and not self.success and time.time() < timeout_t:

Modified: pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base_odomx_gt.py
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base_odomx_gt.py	2009-02-10 21:53:18 UTC (rev 10945)
+++ pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base_odomx_gt.py	2009-02-10 21:55:05 UTC (rev 10946)
@@ -173,8 +173,8 @@
     def test_base(self):
         print "LNK\n"
         pub = rospy.Publisher("cmd_vel", PoseDot)
-        rospy.subscribe_topic("base_pose_ground_truth", PoseWithRatesStamped, self.p3dInput)
-        rospy.subscribe_topic("odom",                   RobotBase2DOdom,      self.odomInput)
+        rospy.Subscriber("base_pose_ground_truth", PoseWithRatesStamped, self.p3dInput)
+        rospy.Subscriber("odom",                   RobotBase2DOdom,      self.odomInput)
         rospy.init_node(NAME, anonymous=True)
         timeout_t = time.time() + 10.0
         while not rospy.is_shutdown() and not self.success and time.time() < timeout_t:

Modified: pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base_odomxy_gt.py
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base_odomxy_gt.py	2009-02-10 21:53:18 UTC (rev 10945)
+++ pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base_odomxy_gt.py	2009-02-10 21:55:05 UTC (rev 10946)
@@ -173,8 +173,8 @@
     def test_base(self):
         print "LNK\n"
         pub = rospy.Publisher("cmd_vel", PoseDot)
-        rospy.subscribe_topic("base_pose_ground_truth", PoseWithRatesStamped, self.p3dInput)
-        rospy.subscribe_topic("odom",                   RobotBase2DOdom,      self.odomInput)
+        rospy.Subscriber("base_pose_ground_truth", PoseWithRatesStamped, self.p3dInput)
+        rospy.Subscriber("odom",                   RobotBase2DOdom,      self.odomInput)
         rospy.init_node(NAME, anonymous=True)
         timeout_t = time.time() + 10.0
         while not rospy.is_shutdown() and not self.success and time.time() < timeout_t:

Modified: pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base_odomxyw_gt.py
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base_odomxyw_gt.py	2009-02-10 21:53:18 UTC (rev 10945)
+++ pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base_odomxyw_gt.py	2009-02-10 21:55:05 UTC (rev 10946)
@@ -212,8 +212,8 @@
     def test_base(self):
         print "LNK\n"
         pub = rospy.Publisher("cmd_vel", PoseDot)
-        rospy.subscribe_topic("base_pose_ground_truth", PoseWithRatesStamped, self.p3dInput)
-        rospy.subscribe_topic("odom",                   RobotBase2DOdom,      self.odomInput)
+        rospy.Subscriber("base_pose_ground_truth", PoseWithRatesStamped, self.p3dInput)
+        rospy.Subscriber("odom",                   RobotBase2DOdom,      self.odomInput)
         rospy.init_node(NAME, anonymous=True)
         timeout_t = time.time() + 10.0
         while not rospy.is_shutdown() and not self.success and time.time() < timeout_t:

Modified: pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base_odomy_gt.py
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base_odomy_gt.py	2009-02-10 21:53:18 UTC (rev 10945)
+++ pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base_odomy_gt.py	2009-02-10 21:55:05 UTC (rev 10946)
@@ -173,8 +173,8 @@
     def test_base(self):
         print "LNK\n"
         pub = rospy.Publisher("cmd_vel", PoseDot)
-        rospy.subscribe_topic("base_pose_ground_truth", PoseWithRatesStamped, self.p3dInput)
-        rospy.subscribe_topic("odom",                   RobotBase2DOdom,      self.odomInput)
+        rospy.Subscriber("base_pose_ground_truth", PoseWithRatesStamped, self.p3dInput)
+        rospy.Subscriber("odom",                   RobotBase2DOdom,      self.odomInput)
         rospy.init_node(NAME, anonymous=True)
         timeout_t = time.time() + 10.0
         while not rospy.is_shutdown() and not self.success and time.time() < timeout_t:

Modified: pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base_vw_gt.py
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base_vw_gt.py	2009-02-10 21:53:18 UTC (rev 10945)
+++ pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base_vw_gt.py	2009-02-10 21:55:05 UTC (rev 10946)
@@ -118,8 +118,8 @@
     def test_base(self):
         print "LNK\n"
         pub = rospy.Publisher("cmd_vel", PoseDot)
-        rospy.subscribe_topic("base_pose_ground_truth", PoseWithRatesStamped, self.p3dInput)
-        rospy.subscribe_topic("odom",                   RobotBase2DOdom,      self.odomInput)
+        rospy.Subscriber("base_pose_ground_truth", PoseWithRatesStamped, self.p3dInput)
+        rospy.Subscriber("odom",                   RobotBase2DOdom,      self.odomInput)
         rospy.init_node(NAME, anonymous=True)
         timeout_t = time.time() + 60.0
         while not rospy.is_shutdown() and not self.success and time.time() < timeout_t:

Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.py
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.py	2009-02-10 21:53:18 UTC (rev 10945)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.py	2009-02-10 21:55:05 UTC (rev 10946)
@@ -178,8 +178,8 @@
         print " wait TEST_INIT_WAIT sec for objects to settle and arms to tuck "
         time.sleep(TEST_INIT_WAIT)
         print " subscribe stereo left image from ROS "
-        #rospy.subscribe_topic("test_camera/image", Image, self.imageInput)  # this is a test camera, simply looking at the cups
-        rospy.subscribe_topic("stereo_l/image", Image, self.imageInput) # this is a camera mounted on PR2 head (left stereo camera)
+        #rospy.Subscriber("test_camera/image", Image, self.imageInput)  # this is a test camera, simply looking at the cups
+        rospy.Subscriber("stereo_l/image", Image, self.imageInput) # this is a camera mounted on PR2 head (left stereo camera)
         rospy.init_node(NAME, anonymous=True)
         #self.pollThread.start()
         timeout_t = time.time() + TEST_DURATION

Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.py
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.py	2009-02-10 21:53:18 UTC (rev 10945)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.py	2009-02-10 21:55:05 UTC (rev 10946)
@@ -287,7 +287,7 @@
     
     def test_scan(self):
         print "LNK\n"
-        rospy.subscribe_topic("base_scan", LaserScan, self.pointInput)
+        rospy.Subscriber("base_scan", LaserScan, self.pointInput)
         rospy.init_node(NAME, anonymous=True)
         timeout_t = time.time() + TEST_DURATION
         while not rospy.is_shutdown() and not self.success and time.time() < timeout_t:


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