[Personalrobots-commit] SF.net SVN: personalrobots:[14633] pkg/trunk

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

Revision: 14633
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=14633&view=rev
Author:   hsujohnhsu
Date:     2009-04-29 20:15:41 +0000 (Wed, 29 Apr 2009)

Log Message:
-----------
name change gripper.xacro.xml -> l_gripper.xacro.xml and r_gripper.xacro.xml
update gripper examples in arm_gazebo.

Modified Paths:
--------------
    pkg/trunk/demos/arm_gazebo/l_gripper.launch
    pkg/trunk/robot_descriptions/pr2/pr2_defs/CMakeLists.txt

Added Paths:
-----------
    pkg/trunk/demos/arm_gazebo/l_gripper_controller.xml
    pkg/trunk/demos/arm_gazebo/l_gripper_effort_controller.xml
    pkg/trunk/demos/arm_gazebo/r_gripper.launch
    pkg/trunk/demos/arm_gazebo/r_gripper_controller.xml
    pkg/trunk/robot_descriptions/pr2/pr2_defs/robots/l_gripper.xacro.xml
    pkg/trunk/robot_descriptions/pr2/pr2_defs/robots/r_gripper.xacro.xml

Removed Paths:
-------------
    pkg/trunk/robot_descriptions/pr2/pr2_defs/robots/gripper.xacro.xml

Modified: pkg/trunk/demos/arm_gazebo/l_gripper.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/l_gripper.launch	2009-04-29 20:13:59 UTC (rev 14632)
+++ pkg/trunk/demos/arm_gazebo/l_gripper.launch	2009-04-29 20:15:41 UTC (rev 14633)
@@ -4,7 +4,7 @@
   -->
   <group name="wg">
     <!-- send pr2_l_arm.xml to param server -->
-    <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/gripper.xacro.xml'" />
+    <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/l_gripper.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">

Added: pkg/trunk/demos/arm_gazebo/l_gripper_controller.xml
===================================================================
--- pkg/trunk/demos/arm_gazebo/l_gripper_controller.xml	                        (rev 0)
+++ pkg/trunk/demos/arm_gazebo/l_gripper_controller.xml	2009-04-29 20:15:41 UTC (rev 14633)
@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+<controllers>
+  <controller name="l_gripper_controller" topic="l_gripper_controller" type="JointPositionControllerNode">
+    <joint name="l_gripper_joint">
+        <pid p="0.1" d="0.0" i="0.0" iClamp="0" />
+    </joint>
+  </controller>
+</controllers>

Added: pkg/trunk/demos/arm_gazebo/l_gripper_effort_controller.xml
===================================================================
--- pkg/trunk/demos/arm_gazebo/l_gripper_effort_controller.xml	                        (rev 0)
+++ pkg/trunk/demos/arm_gazebo/l_gripper_effort_controller.xml	2009-04-29 20:15:41 UTC (rev 14633)
@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+<controllers>
+  <controller name="l_gripper_controller" topic="l_gripper_controller" type="JointEffortControllerNode">
+    <joint name="l_gripper_joint">
+        <pid p="1.0" d="0.0" i="0.0" iClamp="0" />
+    </joint>
+  </controller>
+</controllers>

Added: pkg/trunk/demos/arm_gazebo/r_gripper.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/r_gripper.launch	                        (rev 0)
+++ pkg/trunk/demos/arm_gazebo/r_gripper.launch	2009-04-29 20:15:41 UTC (rev 14633)
@@ -0,0 +1,38 @@
+<launch>
+  <!--
+    Run a PR2 left arm in simulation
+  -->
+  <group name="wg">
+    <!-- send pr2_r_arm.xml to param server -->
+    <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_gripper.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:$(optenv LD_LIBRARY_PATH)" />
+      <env name="GAZEBO_RESOURCE_PATH" value="$(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"/>
+
+    <!-- start arm controller -->
+    <!--
+    <node pkg="mechanism_control" type="spawner.py" args="$(find arm_gazebo)/r_arm_default_controller.xml" respawn="false"  />
+    -->
+
+    <!-- send arm a command -->
+    <!--
+    <node pkg="robot_mechanism_controllers" type="control.py" args="set r_gripper_controller 0.5" respawn="false" output="screen" />
+    -->
+
+    <!-- for visualization -->
+    <!--
+    <node pkg="rviz" type="rviz" respawn="false" output="screen" />
+    <include file="$(find arm_gazebo)/debug_plot.launch"/>
+    -->
+
+  </group>
+</launch>
+

Added: pkg/trunk/demos/arm_gazebo/r_gripper_controller.xml
===================================================================
--- pkg/trunk/demos/arm_gazebo/r_gripper_controller.xml	                        (rev 0)
+++ pkg/trunk/demos/arm_gazebo/r_gripper_controller.xml	2009-04-29 20:15:41 UTC (rev 14633)
@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+<controllers>
+  <controller name="r_gripper_controller" topic="r_gripper_controller" type="JointPositionControllerNode">
+    <joint name="r_gripper_joint">
+        <pid p="1.0" d="0.0" i="0.0" iClamp="0" />
+    </joint>
+  </controller>
+</controllers>

Modified: pkg/trunk/robot_descriptions/pr2/pr2_defs/CMakeLists.txt
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_defs/CMakeLists.txt	2009-04-29 20:13:59 UTC (rev 14632)
+++ pkg/trunk/robot_descriptions/pr2/pr2_defs/CMakeLists.txt	2009-04-29 20:15:41 UTC (rev 14633)
@@ -54,16 +54,24 @@
   ARGS ${pr2rarm} > ${pr2rarm_expanded}
   DEPENDS ${pr2rarm} ${def_files})
 
-set(pr2gripper "${CMAKE_CURRENT_SOURCE_DIR}/robots/gripper.xacro.xml")
-set(pr2gripper_expanded "${CMAKE_CURRENT_SOURCE_DIR}/robots/gripper.expanded.xml")
+set(pr2lgripper "${CMAKE_CURRENT_SOURCE_DIR}/robots/l_gripper.xacro.xml")
+set(pr2lgripper_expanded "${CMAKE_CURRENT_SOURCE_DIR}/robots/l_gripper.expanded.xml")
 add_custom_command(
-  OUTPUT ${pr2gripper_expanded}
+  OUTPUT ${pr2lgripper_expanded}
   COMMAND ${xacro_PACKAGE_PATH}/xacro.py
-  ARGS ${pr2gripper} > ${pr2gripper_expanded}
-  DEPENDS ${pr2gripper} ${def_files})
+  ARGS ${pr2lgripper} > ${pr2lgripper_expanded}
+  DEPENDS ${pr2lgripper} ${def_files})
 
+set(pr2rgripper "${CMAKE_CURRENT_SOURCE_DIR}/robots/r_gripper.xacro.xml")
+set(pr2rgripper_expanded "${CMAKE_CURRENT_SOURCE_DIR}/robots/r_gripper.expanded.xml")
+add_custom_command(
+  OUTPUT ${pr2rgripper_expanded}
+  COMMAND ${xacro_PACKAGE_PATH}/xacro.py
+  ARGS ${pr2rgripper} > ${pr2rgripper_expanded}
+  DEPENDS ${pr2rgripper} ${def_files})
 
 
+
 #iv files
 # iterate through all the stl files and generate *.mesh and *.iv files
 file(GLOB pr2_stl_files ${CMAKE_CURRENT_SOURCE_DIR}/meshes/*.stl)
@@ -132,6 +140,6 @@
 
 endforeach(it)
 
-add_custom_target(media_files ALL DEPENDS ${pr2robot_expanded} ${pr2prototype1_expanded} ${pr2larm_expanded} ${pr2rarm_expanded} ${pr2gripper_expanded} ${pr2_gen_files})
+add_custom_target(media_files ALL DEPENDS ${pr2robot_expanded} ${pr2prototype1_expanded} ${pr2larm_expanded} ${pr2rarm_expanded} ${pr2lgripper_expanded} ${pr2rgripper_expanded} ${pr2_gen_files})
 
 #TODO; stop bin and lib from being generated

Deleted: pkg/trunk/robot_descriptions/pr2/pr2_defs/robots/gripper.xacro.xml
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_defs/robots/gripper.xacro.xml	2009-04-29 20:13:59 UTC (rev 14632)
+++ pkg/trunk/robot_descriptions/pr2/pr2_defs/robots/gripper.xacro.xml	2009-04-29 20:15:41 UTC (rev 14633)
@@ -1,72 +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://pr2_defs/meshes"/>
-
-  <include filename="$(find pr2_defs)/defs/gripper_defs.xml" />
-  <include filename="$(find pr2_defs)/defs/gazebo_defs.xml" />
-
-  <pr2_gripper side="l" parent="base_link" />
-
-  <!-- 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 1.002 " 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 -1" 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 -1" 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_gripper_palm_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_gripper_palm_position"/>
-    </controller:ros_p3d>
-  </verbatim>
-  </map>
-
-
-</robot>

Copied: pkg/trunk/robot_descriptions/pr2/pr2_defs/robots/l_gripper.xacro.xml (from rev 14585, pkg/trunk/robot_descriptions/pr2/pr2_defs/robots/gripper.xacro.xml)
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_defs/robots/l_gripper.xacro.xml	                        (rev 0)
+++ pkg/trunk/robot_descriptions/pr2/pr2_defs/robots/l_gripper.xacro.xml	2009-04-29 20:15:41 UTC (rev 14633)
@@ -0,0 +1,72 @@
+<?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://pr2_defs/meshes"/>
+
+  <include filename="$(find pr2_defs)/defs/gripper_defs.xml" />
+  <include filename="$(find pr2_defs)/defs/gazebo_defs.xml" />
+
+  <pr2_gripper side="l" parent="base_link" />
+
+  <!-- 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 1.002 " 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 -1" 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 -1" 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_gripper_palm_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_gripper_palm_position"/>
+    </controller:ros_p3d>
+  </verbatim>
+  </map>
+
+
+</robot>


Property changes on: pkg/trunk/robot_descriptions/pr2/pr2_defs/robots/l_gripper.xacro.xml
___________________________________________________________________
Added: svn:mergeinfo
   + 

Copied: pkg/trunk/robot_descriptions/pr2/pr2_defs/robots/r_gripper.xacro.xml (from rev 14585, pkg/trunk/robot_descriptions/pr2/pr2_defs/robots/gripper.xacro.xml)
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_defs/robots/r_gripper.xacro.xml	                        (rev 0)
+++ pkg/trunk/robot_descriptions/pr2/pr2_defs/robots/r_gripper.xacro.xml	2009-04-29 20:15:41 UTC (rev 14633)
@@ -0,0 +1,72 @@
+<?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://pr2_defs/meshes"/>
+
+  <include filename="$(find pr2_defs)/defs/gripper_defs.xml" />
+  <include filename="$(find pr2_defs)/defs/gazebo_defs.xml" />
+
+  <pr2_gripper side="r" parent="base_link" />
+
+  <!-- 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 1.002 " 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 -1" 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 -1" 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_gripper_palm_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_gripper_palm_position"/>
+    </controller:ros_p3d>
+  </verbatim>
+  </map>
+
+
+</robot>


Property changes on: pkg/trunk/robot_descriptions/pr2/pr2_defs/robots/r_gripper.xacro.xml
___________________________________________________________________
Added: svn:mergeinfo
   + 


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