[Personalrobots-commit] SF.net SVN: personalrobots:[16397] pkg/trunk

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

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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