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[Personalrobots-commit] SF.net SVN: personalrobots:[14102] pkg/trunk
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From: <hsu...@us...> - 2009-04-20 23:55:22
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Revision: 14102
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=14102&view=rev
Author: hsujohnhsu
Date: 2009-04-20 23:55:17 +0000 (Mon, 20 Apr 2009)
Log Message:
-----------
update gazebo launch scripts so controllers are not loaded by default
Modified Paths:
--------------
pkg/trunk/demos/pr2_gazebo/pr2_empty.launch
pkg/trunk/demos/pr2_gazebo/pr2_empty_no_x.launch
pkg/trunk/demos/pr2_gazebo/pr2_floorobj.launch
pkg/trunk/demos/pr2_gazebo/pr2_obs.launch
pkg/trunk/demos/pr2_gazebo/pr2_obs_trajectory.launch
pkg/trunk/demos/pr2_gazebo/pr2_simple.launch
pkg/trunk/demos/pr2_gazebo/pr2_simple_no_x.launch
pkg/trunk/demos/pr2_gazebo/pr2_wg.launch
pkg/trunk/demos/pr2_gazebo/pr2_wg_no_x.launch
pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_pr2_mechanism.xml
pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_pr2_odom.xml
pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_rostime.xml
pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base.xml
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_image.xml
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_scan.xml
Removed Paths:
-------------
pkg/trunk/demos/pr2_gazebo/pr2_simple_trajectory.launch
pkg/trunk/demos/pr2_gazebo/pr2_simple_trajectory_no_x.launch
Modified: pkg/trunk/demos/pr2_gazebo/pr2_empty.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_empty.launch 2009-04-20 23:54:04 UTC (rev 14101)
+++ pkg/trunk/demos/pr2_gazebo/pr2_empty.launch 2009-04-20 23:55:17 UTC (rev 14102)
@@ -12,10 +12,8 @@
</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 -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" />
- <!-- load controllers -->
- <include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
</group>
</launch>
Modified: pkg/trunk/demos/pr2_gazebo/pr2_empty_no_x.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_empty_no_x.launch 2009-04-20 23:54:04 UTC (rev 14101)
+++ pkg/trunk/demos/pr2_gazebo/pr2_empty_no_x.launch 2009-04-20 23:55:17 UTC (rev 14102)
@@ -14,10 +14,8 @@
</node>
<!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" /> <!-- load default arm controller -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" />
- <!-- load controllers -->
- <include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
</group>
</launch>
Modified: pkg/trunk/demos/pr2_gazebo/pr2_floorobj.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_floorobj.launch 2009-04-20 23:54:04 UTC (rev 14101)
+++ pkg/trunk/demos/pr2_gazebo/pr2_floorobj.launch 2009-04-20 23:55:17 UTC (rev 14102)
@@ -12,9 +12,8 @@
</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 -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" />
- <include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
</group>
</launch>
Modified: pkg/trunk/demos/pr2_gazebo/pr2_obs.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_obs.launch 2009-04-20 23:54:04 UTC (rev 14101)
+++ pkg/trunk/demos/pr2_gazebo/pr2_obs.launch 2009-04-20 23:55:17 UTC (rev 14102)
@@ -12,10 +12,8 @@
</node>
<!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" /> <!-- load default arm controller -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" />
- <!-- load controllers -->
- <include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
</group>
</launch>
Modified: pkg/trunk/demos/pr2_gazebo/pr2_obs_trajectory.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_obs_trajectory.launch 2009-04-20 23:54:04 UTC (rev 14101)
+++ pkg/trunk/demos/pr2_gazebo/pr2_obs_trajectory.launch 2009-04-20 23:55:17 UTC (rev 14102)
@@ -12,10 +12,8 @@
</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 -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" />
- <!-- load controllers -->
- <include file="$(find pr2_gazebo)/pr2_default_controllers_trajectory.launch" />
</group>
</launch>
Modified: pkg/trunk/demos/pr2_gazebo/pr2_simple.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_simple.launch 2009-04-20 23:54:04 UTC (rev 14101)
+++ pkg/trunk/demos/pr2_gazebo/pr2_simple.launch 2009-04-20 23:55:17 UTC (rev 14102)
@@ -13,10 +13,8 @@
</node>
<!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" /> <!-- load default arm controller -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" />
- <!-- load controllers -->
- <include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
</group>
</launch>
Modified: pkg/trunk/demos/pr2_gazebo/pr2_simple_no_x.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_simple_no_x.launch 2009-04-20 23:54:04 UTC (rev 14101)
+++ pkg/trunk/demos/pr2_gazebo/pr2_simple_no_x.launch 2009-04-20 23:55:17 UTC (rev 14102)
@@ -13,10 +13,8 @@
</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 -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" />
- <!-- load controllers -->
- <include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
</group>
</launch>
Deleted: pkg/trunk/demos/pr2_gazebo/pr2_simple_trajectory.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_simple_trajectory.launch 2009-04-20 23:54:04 UTC (rev 14101)
+++ pkg/trunk/demos/pr2_gazebo/pr2_simple_trajectory.launch 2009-04-20 23:55:17 UTC (rev 14102)
@@ -1,23 +0,0 @@
-<launch>
- <!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/pr2/pr2_defs/robots for full pr2 -->
- <group name="wg">
- <!-- send pr2.xml to param server -->
- <param name="/use_sim_time" value="true"/>
- <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
-
- <!-- start gazebo -->
- <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/simple.world" respawn="false" output="screen">
- <env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(optenv LD_LIBRARY_PATH)" />
- <env name="GAZEBO_RESOURCE_PATH" value="$(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 -->
-
- <!-- load controllers -->
- <include file="$(find pr2_gazebo)/pr2_default_controllers_trajectory.launch" />
- </group>
-</launch>
-
Deleted: pkg/trunk/demos/pr2_gazebo/pr2_simple_trajectory_no_x.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_simple_trajectory_no_x.launch 2009-04-20 23:54:04 UTC (rev 14101)
+++ pkg/trunk/demos/pr2_gazebo/pr2_simple_trajectory_no_x.launch 2009-04-20 23:55:17 UTC (rev 14102)
@@ -1,23 +0,0 @@
-<launch>
- <!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/pr2/pr2_defs/robots for full pr2 -->
- <group name="wg">
- <!-- send pr2.xml to param server -->
- <param name="/use_sim_time" value="true"/>
- <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
-
- <!-- start gazebo -->
- <node pkg="gazebo" type="gazebo" args="-r $(find gazebo_robot_description)/gazebo_worlds/simple.world" respawn="false" output="screen">
- <env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(optenv LD_LIBRARY_PATH)" />
- <env name="GAZEBO_RESOURCE_PATH" value="$(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 -->
-
- <!-- load controllers -->
- <include file="$(find pr2_gazebo)/pr2_default_controllers_trajectory.launch" />
- </group>
-</launch>
-
Modified: pkg/trunk/demos/pr2_gazebo/pr2_wg.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_wg.launch 2009-04-20 23:54:04 UTC (rev 14101)
+++ pkg/trunk/demos/pr2_gazebo/pr2_wg.launch 2009-04-20 23:55:17 UTC (rev 14102)
@@ -12,10 +12,8 @@
</node>
<!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 -5 -15 0 0 90" respawn="false" output="screen" /> <!-- load default arm controller -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 -5 -15 0 0 90" respawn="false" output="screen" />
- <!-- load controllers -->
- <include file="$(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 2009-04-20 23:54:04 UTC (rev 14101)
+++ pkg/trunk/demos/pr2_gazebo/pr2_wg_no_x.launch 2009-04-20 23:55:17 UTC (rev 14102)
@@ -12,14 +12,8 @@
</node>
<!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <!-- load default arm controller -->
<node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 -5 -15 0 0 90" respawn="false" output="screen" />
- <!-- load controllers -->
- <include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
-
- <!-- visualization -->
- <node pkg="rviz" type="rviz" respawn="false" output="screen" />
</group>
</launch>
Modified: pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_pr2_mechanism.xml
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_pr2_mechanism.xml 2009-04-20 23:54:04 UTC (rev 14101)
+++ pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_pr2_mechanism.xml 2009-04-20 23:55:17 UTC (rev 14102)
@@ -2,6 +2,10 @@
<!-- Bring up the node we want to test. -->
<include file="$(find pr2_gazebo)/pr2_empty_no_x.launch"/>
+ <!-- load controllers -->
+ <include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
+
+
<!-- Run hztest -->
<!-- Test for publication of 'base_pose_ground_truth' topic. -->
<test test-name="hztest_test_base_pose_ground_truth" pkg="rostest" type="hztest" time-limit="50" name="base_pose_ground_truth_test">
Modified: pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_pr2_odom.xml
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_pr2_odom.xml 2009-04-20 23:54:04 UTC (rev 14101)
+++ pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_pr2_odom.xml 2009-04-20 23:55:17 UTC (rev 14102)
@@ -2,6 +2,9 @@
<!-- Bring up the node we want to test. -->
<include file="$(find pr2_gazebo)/pr2_empty_no_x.launch"/>
+ <!-- load controllers -->
+ <include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
+
<!-- Test for publication of 'odom' topic. -->
<test test-name="hztest_test_odom" pkg="rostest" type="hztest" time-limit="50" name="odom_test">
<!-- Note how we use a different parameter namespace and node name
Modified: pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_rostime.xml
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_rostime.xml 2009-04-20 23:54:04 UTC (rev 14101)
+++ pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_rostime.xml 2009-04-20 23:55:17 UTC (rev 14102)
@@ -2,6 +2,9 @@
<!-- Bring up the node we want to test. -->
<include file="$(find pr2_gazebo)/pr2_empty_no_x.launch"/>
+ <!-- load controllers -->
+ <include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
+
<!-- Test for publication of 'odom' topic. -->
<test test-name="hztest_test_rostime" pkg="rostest" type="hztest" time-limit="50" name="rostime_test">
<!-- Note how we use a different parameter namespace and node name
Modified: pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base.xml
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base.xml 2009-04-20 23:54:04 UTC (rev 14101)
+++ pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base.xml 2009-04-20 23:55:17 UTC (rev 14102)
@@ -1,13 +1,14 @@
<launch>
- <master auto="start" />
+ <!-- send single_link.xml to param server -->
+ <include file="$(find pr2_gazebo)/pr2_empty_no_x.launch" />
- <!-- send single_link.xml to param server -->
- <include file="$(find pr2_gazebo)/pr2_empty_no_x.launch" />
+ <!-- load controllers -->
+ <include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
- <test test-name="test_pr2_mechanism_gazebo_test_base_vw1" pkg="test_pr2_mechanism_controllers_gazebo" type="test_base_vw_gt.py" />
- <test test-name="test_pr2_mechanism_gazebo_test_base_odomxyw1" pkg="test_pr2_mechanism_controllers_gazebo" type="test_base_odomxyw_gt.py" />
- <test test-name="test_pr2_mechanism_gazebo_test_base_odomxy1" pkg="test_pr2_mechanism_controllers_gazebo" type="test_base_odomxy_gt.py" />
- <test test-name="test_pr2_mechanism_gazebo_test_base_odomw1" pkg="test_pr2_mechanism_controllers_gazebo" type="test_base_odomw_gt.py" />
- <test test-name="test_pr2_mechanism_gazebo_test_base_odomx1" pkg="test_pr2_mechanism_controllers_gazebo" type="test_base_odomx_gt.py" />
- <test test-name="test_pr2_mechanism_gazebo_test_base_odomy1" pkg="test_pr2_mechanism_controllers_gazebo" type="test_base_odomy_gt.py" />
+ <test test-name="test_pr2_mechanism_gazebo_test_base_vw1" pkg="test_pr2_mechanism_controllers_gazebo" type="test_base_vw_gt.py" />
+ <test test-name="test_pr2_mechanism_gazebo_test_base_odomxyw1" pkg="test_pr2_mechanism_controllers_gazebo" type="test_base_odomxyw_gt.py" />
+ <test test-name="test_pr2_mechanism_gazebo_test_base_odomxy1" pkg="test_pr2_mechanism_controllers_gazebo" type="test_base_odomxy_gt.py" />
+ <test test-name="test_pr2_mechanism_gazebo_test_base_odomw1" pkg="test_pr2_mechanism_controllers_gazebo" type="test_base_odomw_gt.py" />
+ <test test-name="test_pr2_mechanism_gazebo_test_base_odomx1" pkg="test_pr2_mechanism_controllers_gazebo" type="test_base_odomx_gt.py" />
+ <test test-name="test_pr2_mechanism_gazebo_test_base_odomy1" pkg="test_pr2_mechanism_controllers_gazebo" type="test_base_odomy_gt.py" />
</launch>
Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_image.xml
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_image.xml 2009-04-20 23:54:04 UTC (rev 14101)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_image.xml 2009-04-20 23:55:17 UTC (rev 14102)
@@ -2,6 +2,9 @@
<!-- Bring up the node we want to test. -->
<include file="$(find pr2_gazebo)/pr2_empty.launch"/>
+ <!-- load controllers -->
+ <include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
+
<!-- Run hztest -->
<!-- Test for publication of 'left axis camera image publish rate' topic -->
<test test-name="hztest_test_axis_left_image" pkg="rostest" type="hztest" time-limit="60" name="axis_left_image_test">
Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_scan.xml
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_scan.xml 2009-04-20 23:54:04 UTC (rev 14101)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_scan.xml 2009-04-20 23:55:17 UTC (rev 14102)
@@ -2,6 +2,9 @@
<!-- Bring up the node we want to test. -->
<include file="$(find pr2_gazebo)/pr2_empty_no_x.launch"/>
+ <!-- load controllers -->
+ <include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
+
<!-- Run hztest -->
<!-- Test for publication of 'base_scan' topic -->
<test test-name="hztest_test_scan" pkg="rostest" type="hztest" time-limit="50" name="base_scan_test">
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