[Personalrobots-commit] SF.net SVN: personalrobots:[15394] pkg/trunk

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

Revision: 15394
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=15394&view=rev
Author:   hsujohnhsu
Date:     2009-05-14 06:40:32 +0000 (Thu, 14 May 2009)

Log Message:
-----------
update collision test case.

Modified Paths:
--------------
    pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.xml
    pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_slide.world

Modified: pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.xml
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.xml	2009-05-14 06:28:06 UTC (rev 15393)
+++ pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.xml	2009-05-14 06:40:32 UTC (rev 15394)
@@ -1,22 +1,20 @@
 <launch>
-  <master auto="start" />
+  <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/test/test_slide.world" respawn="false" output="screen">
+    <env name="LD_LIBRARY_PATH" value="$(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>
 
-    <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/test/test_slide.world" respawn="false" output="screen">
-      <env name="LD_LIBRARY_PATH" value="$(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>
+  <!-- send single_link.xml to param server -->
+  <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
 
-    <!-- send single_link.xml to param server -->
-    <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
+  <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
+  <node pkg="gazebo_plugin" type="urdf2factory" args="/robotdesc/pr2 0 6 18 0 0 90" respawn="false" output="screen" /> <!-- load default arm controller -->
 
-    <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
-    <node pkg="gazebo_plugin" type="urdf2factory" args="/robotdesc/pr2 0 6 18 0 0 90" respawn="false" output="screen" /> <!-- load default arm controller -->
+  <!-- load controllers -->
+  <include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
 
-    <!-- load controllers -->
-    <include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
-
-    <!-- test -->
-    <test test-name="pr2_test_slide" pkg="test_pr2_collision_gazebo" type="test_slide.py" time-limit="120" />
+  <!-- test -->
+  <test test-name="pr2_test_slide" pkg="test_pr2_collision_gazebo" type="test_slide.py" time-limit="120" />
 </launch>

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_slide.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_slide.world	2009-05-14 06:28:06 UTC (rev 15393)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_slide.world	2009-05-14 06:40:32 UTC (rev 15394)
@@ -60,7 +60,7 @@
     </sky>
     <gazeboPath>media</gazeboPath>
     <grid>false</grid>
-    <maxUpdateRate>0.001</maxUpdateRate>
+    <maxUpdateRate>30.0</maxUpdateRate>
   </rendering:ogre>
 
 


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