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From: <hsu...@us...> - 2009-05-29 20:39:55
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Revision: 16397
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16397&view=rev
Author: hsujohnhsu
Date: 2009-05-29 20:39:25 +0000 (Fri, 29 May 2009)
Log Message:
-----------
Merging from branch:
svn merge -r 16273:16334 https://personalrobots.svn.sf.net/svnroot/personalrobots/pkg/branches/gazebo-branch-merge .
Modified Paths:
--------------
pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_camera.h
pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_camera.cpp
pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/head_defs.xml
pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/prosilica_defs.xml
pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/ptz_defs.xml
Property Changed:
----------------
pkg/trunk/
pkg/trunk/robot_descriptions/gazebo_robot_description/Media/
pkg/trunk/visualization/
pkg/trunk/visualization/rviz/src/rviz/generated/rviz_generated.i
pkg/trunk/visualization/rviz/src/rviz/properties/forwards.h
pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp
pkg/trunk/visualization/rviz/src/rviz/robot/robot.h
pkg/trunk/visualization_core/ogre_tools/
pkg/trunk/visualization_core/ogre_tools/media/
pkg/trunk/visualization_core/ogre_tools/src/stl_to_mesh/
pkg/trunk/visualization_core/ogre_tools/test/
Property changes on: pkg/trunk
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
+ /pkg/branches/gazebo-branch-merge:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_camera.h
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_camera.h 2009-05-29 20:32:53 UTC (rev 16396)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_camera.h 2009-05-29 20:39:25 UTC (rev 16397)
@@ -138,6 +138,7 @@
/// \brief size of image buffer
private: int height, width, depth;
+ private: std::string format;
};
/** \} */
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_camera.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_camera.cpp 2009-05-29 20:32:53 UTC (rev 16396)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_camera.cpp 2009-05-29 20:39:25 UTC (rev 16397)
@@ -30,6 +30,7 @@
#include <algorithm>
#include <assert.h>
+#include <boost/thread/thread.hpp>
#include <gazebo_plugin/ros_camera.h>
@@ -107,7 +108,18 @@
// set buffer size
this->width = this->myParent->GetImageWidth();
this->height = this->myParent->GetImageHeight();
- this->depth = 1;
+ this->depth = this->myParent->GetImageDepth();
+ if (this->myParent->GetImageFormat() == "L8")
+ this->format = "mono";
+ else if (this->myParent->GetImageFormat() == "R8G8B8")
+ this->format = "rgb";
+ else if (this->myParent->GetImageFormat() == "B8G8R8")
+ this->format = "bgr";
+ else
+ {
+ ROS_ERROR("Unsupported Gazebo ImageFormat\n");
+ this->format = "rgb";
+ }
}
@@ -138,10 +150,13 @@
{
const unsigned char *src;
+ boost::recursive_mutex::scoped_lock mr_lock(*Simulator::Instance()->GetMRMutex());
+
// Get a pointer to image data
src = this->myParent->GetImageData(0);
- //std::cout << " updating camera " << this->topicName << " " << data->image_size << std::endl;
+ //std::cout << " updating camera " << this->topicName << " " << this->width << std::endl;
+
if (src)
{
//double tmpT0 = Simulator::Instance()->GetWallTime();
@@ -159,9 +174,9 @@
if (this->rosnode->numSubscribers(this->topicName) > 0)
{
// copy from src to imageMsg
- fillImage(this->imageMsg ,"image_raw" ,
- this->height ,this->width ,this->depth,
- "mono" ,"uint8" ,
+ fillImage(this->imageMsg ,"image_raw" ,
+ this->height ,this->width , this->depth,
+ this->format.c_str() ,"uint8" ,
(void*)src );
//tmpT2 = Simulator::Instance()->GetWallTime();
Property changes on: pkg/trunk/robot_descriptions/gazebo_robot_description/Media
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/robot_descriptions/gazebo_robot_description/Media:15683-15684,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
+ /pkg/branches/gazebo-branch-merge/robot_descriptions/gazebo_robot_description/Media:15683-15684,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Modified: pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/head_defs.xml
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/head_defs.xml 2009-05-29 20:32:53 UTC (rev 16396)
+++ pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/head_defs.xml 2009-05-29 20:39:25 UTC (rev 16397)
@@ -232,8 +232,8 @@
<map name="sensor" flag="gazebo">
<verbatim key="sensor_${name}_l_camera">
<sensor:camera name="${name}_l_sensor">
- <imageWidth>640</imageWidth>
- <imageHeight>480</imageHeight>
+ <imageSize>640 480</imageSize>
+ <imageFormat>L8</imageFormat>
<hfov>90</hfov>
<nearClip>0.1</nearClip>
<farClip>100</farClip>
@@ -285,8 +285,8 @@
<map name="sensor" flag="gazebo">
<verbatim key="sensor_${name}_r_camera">
<sensor:camera name="${name}_r_sensor">
- <imageWidth>640</imageWidth>
- <imageHeight>480</imageHeight>
+ <imageSize>640 480</imageSize>
+ <imageFormat>L8</imageFormat>
<hfov>90</hfov>
<nearClip>0.1</nearClip>
<farClip>100</farClip>
Modified: pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/prosilica_defs.xml
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/prosilica_defs.xml 2009-05-29 20:32:53 UTC (rev 16396)
+++ pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/prosilica_defs.xml 2009-05-29 20:39:25 UTC (rev 16397)
@@ -38,8 +38,7 @@
<map name="sensor" flag="gazebo">
<verbatim key="sensor_${name}_camera">
<sensor:camera name="${name}_sensor">
- <imageWidth>1024</imageWidth>
- <imageHeight>800</imageHeight>
+ <imageSize>1024 800</imageSize>
<hfov>60</hfov>
<nearClip>0.1</nearClip>
<farClip>100</farClip>
Modified: pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/ptz_defs.xml
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/ptz_defs.xml 2009-05-29 20:32:53 UTC (rev 16396)
+++ pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/ptz_defs.xml 2009-05-29 20:39:25 UTC (rev 16397)
@@ -85,8 +85,7 @@
<map name="sensor" flag="gazebo">
<verbatim key="sensor_${side}_ptz_camera">
<sensor:camera name="${side}_ptz_cam_sensor">
- <imageWidth>640</imageWidth>
- <imageHeight>480</imageHeight>
+ <imageSize>640 480</imageSize>
<hfov>60</hfov>
<nearClip>0.1</nearClip>
<farClip>100</farClip>
Property changes on: pkg/trunk/visualization
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/rviz_selection:12152-13640
/pkg/branches/josh/visualization_scratch:14041-14428
+ /pkg/branches/gazebo-branch-merge/visualization:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
/pkg/branches/josh/rviz_selection:12152-13640
/pkg/branches/josh/visualization_scratch:14041-14428
Property changes on: pkg/trunk/visualization/rviz/src/rviz/generated/rviz_generated.i
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/generated/rviz_generated.i:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/generated/rviz_generated.i:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/generated/visualization_panel_generated.i:12189
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/generated/rviz_generated.i:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/generated/rviz_generated.i:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/generated/visualization_panel_generated.i:12189
Property changes on: pkg/trunk/visualization/rviz/src/rviz/properties/forwards.h
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/properties/forwards.h:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/properties/forwards.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/properties/property_forwards.h:12189,12408-12643,12667
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/properties/forwards.h:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/properties/forwards.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/properties/property_forwards.h:12189,12408-12643,12667
Property changes on: pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.cpp:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.cpp:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp:497-13654
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.cpp:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.cpp:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp:497-13654
Property changes on: pkg/trunk/visualization/rviz/src/rviz/robot/robot.h
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.h:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.h:497-13654
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.h:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.h:497-13654
Property changes on: pkg/trunk/visualization_core/ogre_tools
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/visualization_scratch/ogre_tools:14041-14418
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
/pkg/branches/josh/visualization_scratch/ogre_tools:14041-14418
Property changes on: pkg/trunk/visualization_core/ogre_tools/media
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/media:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/visualization_scratch/ogre_tools/media:14041-14418
/pkg/trunk/visualization/ogre_tools/media:2217-8463
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/media:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
/pkg/branches/josh/visualization_scratch/ogre_tools/media:14041-14418
/pkg/trunk/visualization/ogre_tools/media:2217-8463
Property changes on: pkg/trunk/visualization_core/ogre_tools/src/stl_to_mesh
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/src/stl_to_mesh:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/visualization_scratch/ogre_tools/src/stl_to_mesh:14041-14418
/pkg/trunk/visualization/ogre_tools/src/stl_to_mesh:2217-2818
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/src/stl_to_mesh:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
/pkg/branches/josh/visualization_scratch/ogre_tools/src/stl_to_mesh:14041-14418
/pkg/trunk/visualization/ogre_tools/src/stl_to_mesh:2217-2818
Property changes on: pkg/trunk/visualization_core/ogre_tools/test
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/test:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/visualization_scratch/ogre_tools/test:14041-14418
/pkg/trunk/visualization/ogre_tools/test:2217-3599
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/test:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
/pkg/branches/josh/visualization_scratch/ogre_tools/test:14041-14418
/pkg/trunk/visualization/ogre_tools/test:2217-3599
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