[Personalrobots-commit] SF.net SVN: personalrobots:[15497] pkg/trunk

[<rdi...@us...>]

Revision: 15497
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=15497&view=rev
Author:   rdiankov
Date:     2009-05-15 06:42:56 +0000 (Fri, 15 May 2009)

Log Message:
-----------
added python binding to openrave via openravepy

Modified Paths:
--------------
    pkg/trunk/3rdparty/openrave/Makefile
    pkg/trunk/openrave_planning/openraveros/src/openraveros.cpp
    pkg/trunk/openrave_planning/openraveros/src/session.h
    pkg/trunk/util/robot_self_filter/src/robotlinks_filter_node.cpp

Modified: pkg/trunk/3rdparty/openrave/Makefile
===================================================================
--- pkg/trunk/3rdparty/openrave/Makefile	2009-05-15 06:19:57 UTC (rev 15496)
+++ pkg/trunk/3rdparty/openrave/Makefile	2009-05-15 06:42:56 UTC (rev 15497)
@@ -2,7 +2,7 @@
 
 SVN_DIR = openrave_svn
 # Should really specify a revision
-SVN_REVISION = -r 768
+SVN_REVISION = -r 775
 SVN_URL = https://openrave.svn.sourceforge.net/svnroot/openrave
 #SVN_PATCH = fini_patch.patch
 include $(shell rospack find mk)/svn_checkout.mk

Modified: pkg/trunk/openrave_planning/openraveros/src/openraveros.cpp
===================================================================
--- pkg/trunk/openrave_planning/openraveros/src/openraveros.cpp	2009-05-15 06:19:57 UTC (rev 15496)
+++ pkg/trunk/openrave_planning/openraveros/src/openraveros.cpp	2009-05-15 06:42:56 UTC (rev 15497)
@@ -97,11 +97,6 @@
 
 int main(int argc, char ** argv)
 {
-    // Set up the output streams to support wide characters
-    if (fwide(stdout,1) < 0) {
-        printf("Unable to set stdout to wide characters\n");
-    }
-
     signal(SIGINT,sigint_handler); // control C
 
     ros::init(argc,argv);

Modified: pkg/trunk/openrave_planning/openraveros/src/session.h
===================================================================
--- pkg/trunk/openrave_planning/openraveros/src/session.h	2009-05-15 06:19:57 UTC (rev 15496)
+++ pkg/trunk/openrave_planning/openraveros/src/session.h	2009-05-15 06:42:56 UTC (rev 15497)
@@ -359,8 +359,11 @@
         }
 
         int id = rand();
-        while(id == 0 || _mapsessions.find(id) != _mapsessions.end())
-            id = rand();
+        {
+            boost::mutex::scoped_lock lock(_mutexsession);
+            while(id == 0 || _mapsessions.find(id) != _mapsessions.end())
+                id = rand();
+        }
 
         SessionState state;
         
@@ -386,6 +389,8 @@
 
         state._pserver.reset(new ROSServer(id, new SessionSetViewerFunc(this), state._penv.get(), req.physicsengine, req.collisionchecker, req.viewer));
         state._penv->AttachServer(state._pserver.get());
+
+        boost::mutex::scoped_lock lock(_mutexsession);
         _mapsessions[id] = state;
         res.sessionid = id;
 

Modified: pkg/trunk/util/robot_self_filter/src/robotlinks_filter_node.cpp
===================================================================
--- pkg/trunk/util/robot_self_filter/src/robotlinks_filter_node.cpp	2009-05-15 06:19:57 UTC (rev 15496)
+++ pkg/trunk/util/robot_self_filter/src/robotlinks_filter_node.cpp	2009-05-15 06:42:56 UTC (rev 15497)
@@ -97,7 +97,7 @@
     };
 
     RobotLinksFilter(const string& robotname, dReal convexpadding, bool bAccurateTiming) : _robotname(robotname), _convexpadding(convexpadding), _bAccurateTiming(bAccurateTiming)
-            {
+    {
         if( InitRobotLinksFromOpenRAVE(robotname) ) {
             double tf_cache_time_secs;
             s_pmasternode->param("~tf_cache_time_secs", tf_cache_time_secs, 10.0);
@@ -116,14 +116,10 @@
             extrap_limit.fromSec(tf_extrap_limit_secs);
             _tf->setExtrapolationLimit(extrap_limit);
             ROS_INFO("RobotLinksFilter: tf extrapolation Limit: %f Seconds", tf_extrap_limit_secs);
-            _pointcloudnotifier = 
-                    new tf::MessageNotifier<robot_msgs::PointCloud>
-                    (_tf.get(), ros::Node::instance(),  
-                     boost::bind(&RobotLinksFilter::PointCloudCallback, 
-                                 this, _1), 
-                     "tilt_laser_cloud_filtered", "base_link",
-                     50);
-            ROS_ASSERT(_pointcloudnotifier);
+            _pointcloudnotifier.reset(new tf::MessageNotifier<robot_msgs::PointCloud>
+                                      (_tf.get(), ros::Node::instance(),  
+                                       boost::bind(&RobotLinksFilter::PointCloudCallback, this, _1), 
+                                       "tilt_laser_cloud_filtered", "base_link", 50));
         }
         else
             ROS_ERROR("failed to init robot %s", robotname.c_str());
@@ -138,8 +134,7 @@
             s_pmasternode->unadvertise("robotlinks_cloud_filtered");
         }
 
-        if( _pointcloudnotifier)
-          delete _pointcloudnotifier;
+        _pointcloudnotifier.reset();
     }
 
     bool InitRobotLinksFromOpenRAVE(const string& robotname)
@@ -440,7 +435,7 @@
     string _robotname;
     dReal _convexpadding;
     bool _bAccurateTiming; ///< if true, will interpolate the convex hulls for every time stamp
-    tf::MessageNotifier<robot_msgs::PointCloud>* _pointcloudnotifier;
+    boost::shared_ptr<tf::MessageNotifier<robot_msgs::PointCloud> > _pointcloudnotifier;
 };
 
 int main(int argc, char ** argv)


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