Menu
▾
▴
[Personalrobots-commit] SF.net SVN: personalrobots:[16612] pkg/trunk
|
From: <ei...@us...> - 2009-06-02 21:28:50
|
Revision: 16612
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16612&view=rev
Author: eitanme
Date: 2009-06-02 21:28:44 +0000 (Tue, 02 Jun 2009)
Log Message:
-----------
Merging the milestone2 branch back into trunk
----------------------------------------------------------------------
r24753 (orig r16602): eitanme | 2009-06-02 14:13:08 -0700
Merged final tag of milestone2 back to the main branch
----------------------------------------------------------------------
r24738 (orig r16591): eitanme | 2009-06-02 10:48:55 -0700
Adding some fixes I didn't want to push before the milestone before we merge the branch back in
----------------------------------------------------------------------
r24631 (orig r16570): eitanme | 2009-06-01 15:19:27 -0700
adding intensity filter to throw away super dark points, hopefully removing some of the fringing
----------------------------------------------------------------------
r24630 (orig r16569): meeussen | 2009-06-01 15:19:04 -0700
Fixed outlet 38 scaling factor
----------------------------------------------------------------------
r24628 (orig r16567): meeussen | 2009-06-01 15:14:36 -0700
Fixes for corner cases in move_base_door
----------------------------------------------------------------------
r24627 (orig r16566): meeussen | 2009-06-01 15:13:58 -0700
recalibrated plug
----------------------------------------------------------------------
r24626 (orig r16565): meeussen | 2009-06-01 15:13:47 -0700
Tweaked some params
----------------------------------------------------------------------
r24625 (orig r16564): meeussen | 2009-06-01 15:13:15 -0700
Added a bit of debug to pr2_etherCAT.
----------------------------------------------------------------------
r24619 (orig r16558): pmihelich | 2009-06-01 14:07:14 -0700
prosilica_cam: Change camera data rate adaptively.
----------------------------------------------------------------------
r24618 (orig r16557): mariusmuja | 2009-06-01 13:51:05 -0700
Changed the timeout behavior for outlet_spotting2 to timeout when dcam node is down
----------------------------------------------------------------------
r24617 (orig r16556): pmihelich | 2009-06-01 13:13:45 -0700
outlet_detection: Disabled saving of all processed images.
----------------------------------------------------------------------
r24616 (orig r16555): ehberger | 2009-06-01 13:12:52 -0700
utility for running from roslaunch and capturing core files
----------------------------------------------------------------------
r24613 (orig r16552): mcgann | 2009-06-01 12:26:36 -0700
Upping plug-in duration bound
----------------------------------------------------------------------
r24605 (orig r16546): mariusmuja | 2009-06-01 11:38:41 -0700
Added timout to course outlet detection, closes #1534
----------------------------------------------------------------------
r24603 (orig r16544): pmihelich | 2009-06-01 11:31:07 -0700
outlet_detection: saveImage also saves whether detection was successful.
----------------------------------------------------------------------
r24602 (orig r16543): pmihelich | 2009-06-01 11:10:42 -0700
outlet_detection: For debugging purposes, trackers always save out their inputs. Expanded saveImage to save the time and selected transforms.
----------------------------------------------------------------------
r24592 (orig r16533): meeussen | 2009-06-01 08:36:46 -0700
limit maximum velocity of tilt laser to hopefully keep tilt laser calibrated well
----------------------------------------------------------------------
r24591 (orig r16532): meeussen | 2009-06-01 08:35:45 -0700
reduce the number of ground hits by being less carefull
----------------------------------------------------------------------
r24590 (orig r16531): mcgann | 2009-06-01 08:18:57 -0700
Implemenetd an OR constraint to resolve conflict
----------------------------------------------------------------------
r24589 (orig r16530): mcgann | 2009-06-01 07:32:20 -0700
Backing out
----------------------------------------------------------------------
r24588 (orig r16529): mcgann | 2009-06-01 06:44:07 -0700
Hack the direct value
----------------------------------------------------------------------
r24587 (orig r16528): mcgann | 2009-06-01 06:17:41 -0700
Encore
----------------------------------------------------------------------
r24586 (orig r16527): mcgann | 2009-06-01 06:12:50 -0700
Skip infinity as it is causing problems with arithemtic constraint
----------------------------------------------------------------------
r24585 (orig r16526): meeussen | 2009-06-01 06:11:09 -0700
filling out the back of kurts office to hopefully not punch through the back
----------------------------------------------------------------------
r24584 (orig r16525): mcgann | 2009-06-01 06:10:06 -0700
Infinity fix
----------------------------------------------------------------------
r24583 (orig r16524): mcgann | 2009-06-01 05:22:06 -0700
Reverted
----------------------------------------------------------------------
r24582 (orig r16523): mcgann | 2009-06-01 05:08:11 -0700
Updated the logclock to give the tick rate. Adding back the global time bound and switching to move_base thru the doorway
----------------------------------------------------------------------
r24581 (orig r16522): meeussen | 2009-06-01 04:47:56 -0700
use move base to get through door instead of move base local
----------------------------------------------------------------------
r24580 (orig r16521): mcgann | 2009-06-01 04:31:25 -0700
No risk change - just fixing the assignment of the tick to properly permit floats
----------------------------------------------------------------------
r24579 (orig r16520): meeussen | 2009-06-01 03:54:29 -0700
painted some more walls and added large obstacles in printer room
----------------------------------------------------------------------
r24578 (orig r16519): mcgann | 2009-06-01 03:02:19 -0700
Masking global timeout to enable further testing
----------------------------------------------------------------------
r24577 (orig r16518): meeussen | 2009-06-01 02:51:26 -0700
move overlapping points away from each other
----------------------------------------------------------------------
r24576 (orig r16517): meeussen | 2009-06-01 02:24:15 -0700
forgot to unsubscribe
----------------------------------------------------------------------
r24575 (orig r16516): meeussen | 2009-06-01 02:20:10 -0700
unlock before unsubscribe
----------------------------------------------------------------------
r24574 (orig r16515): mcgann | 2009-06-01 02:15:39 -0700
Reinstating global timeout capability
----------------------------------------------------------------------
r24573 (orig r16514): meeussen | 2009-06-01 01:34:55 -0700
fixed timeout for move base door
----------------------------------------------------------------------
r24572 (orig r16513): meeussen | 2009-06-01 01:15:45 -0700
change scaling factor for outlet 38
----------------------------------------------------------------------
r24571 (orig r16512): mcgann | 2009-05-31 23:38:28 -0700
Removing global timeout
----------------------------------------------------------------------
r24570 (orig r16511): mcgann | 2009-05-31 23:10:35 -0700
Trying this
----------------------------------------------------------------------
r24569 (orig r16510): mcgann | 2009-05-31 22:21:33 -0700
Trying this
----------------------------------------------------------------------
r24568 (orig r16509): meeussen | 2009-05-31 21:31:18 -0700
sleep 3 seconds after finishing to give push door the chance to finish
----------------------------------------------------------------------
r24567 (orig r16508): gerkey | 2009-05-31 21:29:42 -0700
Added call to keep activating plug tracker in initial loop.
----------------------------------------------------------------------
r24566 (orig r16507): meeussen | 2009-05-31 21:14:35 -0700
sleep 10 secs before returning success
----------------------------------------------------------------------
r24565 (orig r16506): meeussen | 2009-05-31 20:51:51 -0700
tested failure case when plug goes in at first touch
----------------------------------------------------------------------
r24564 (orig r16505): meeussen | 2009-05-31 20:24:38 -0700
change wiggling pattern for plugging in/out. Change threshold for plugged-in detectin. Push harder to first touch.
----------------------------------------------------------------------
r24563 (orig r16504): mcgann | 2009-05-31 19:58:36 -0700
Fix - we need a ground value
----------------------------------------------------------------------
r24562 (orig r16503): mcgann | 2009-05-31 19:31:28 -0700
Added in rotation and make time out a controller predicate parameter
----------------------------------------------------------------------
r24561 (orig r16502): mcgann | 2009-05-31 18:46:35 -0700
Time bounds for recharger
----------------------------------------------------------------------
r24560 (orig r16501): meeussen | 2009-05-31 18:44:10 -0700
new pattern to point head towards outlet
----------------------------------------------------------------------
r24559 (orig r16500): meeussen | 2009-05-31 18:40:13 -0700
set shoulder pan joint to 7 Nm
----------------------------------------------------------------------
r24558 (orig r16499): meeussen | 2009-05-31 18:21:48 -0700
make initial joint position match the one of safety tuck arms
----------------------------------------------------------------------
r24557 (orig r16498): ehberger | 2009-05-31 18:06:04 -0700
Add constraint for reversing pose heading for traversing open doors
----------------------------------------------------------------------
r24556 (orig r16497): mcgann | 2009-05-31 17:53:15 -0700
Fix for bad constraint name
----------------------------------------------------------------------
r24555 (orig r16496): mcgann | 2009-05-31 17:28:53 -0700
Handling tick bounds in seconds
----------------------------------------------------------------------
r24553 (orig r16494): meeussen | 2009-05-31 17:21:24 -0700
test for sachins door
----------------------------------------------------------------------
r24552 (orig r16493): mcgann | 2009-05-31 17:19:33 -0700
Use constants for legibility
----------------------------------------------------------------------
r24551 (orig r16492): mcgann | 2009-05-31 17:13:33 -0700
Time bounds for door domain
----------------------------------------------------------------------
r24550 (orig r16491): ehberger | 2009-05-31 17:12:16 -0700
Set target for unplug location based on felt location of wall, instead of initial visual guess
----------------------------------------------------------------------
r24549 (orig r16490): meeussen | 2009-05-31 17:03:43 -0700
use sine to generate pattern of orientations instead of random noise
----------------------------------------------------------------------
r24548 (orig r16489): mcgann | 2009-05-31 16:29:56 -0700
Wrong type
----------------------------------------------------------------------
r24546 (orig r16487): ehberger | 2009-05-31 16:26:00 -0700
Added debug statement for unplugging threshold
----------------------------------------------------------------------
r24545 (orig r16486): ehberger | 2009-05-31 16:19:12 -0700
Sanity check for outlet orientation. Untested and untrustworthy.
----------------------------------------------------------------------
r24544 (orig r16485): mcgann | 2009-05-31 16:14:49 -0700
Plug assumed stowed
----------------------------------------------------------------------
r24543 (orig r16484): mcgann | 2009-05-31 15:57:31 -0700
Full reset. Had missed detect_plug change
----------------------------------------------------------------------
r24542 (orig r16483): mcgann | 2009-05-31 15:33:59 -0700
Missing the laser tilt declaration
----------------------------------------------------------------------
r24541 (orig r16482): gerkey | 2009-05-31 15:18:14 -0700
Fixed joint name in shoulder controller, and added missing outlet (26) to trex goals list
----------------------------------------------------------------------
r24540 (orig r16481): meeussen | 2009-05-31 14:59:51 -0700
set joystick timeout to 100 sec
----------------------------------------------------------------------
r24539 (orig r16480): meeussen | 2009-05-31 14:59:08 -0700
Fix issues with reference frames and reference points. Add scaling factor for puching to avoid saturation of joints
----------------------------------------------------------------------
r24538 (orig r16479): meeussen | 2009-05-31 14:58:14 -0700
add function to get joint efforts
----------------------------------------------------------------------
r24537 (orig r16478): gerkey | 2009-05-31 13:38:06 -0700
Blocked holes in the back of Kurt/Eric's office and Leila/Melonee's office
----------------------------------------------------------------------
r24535 (orig r16476): ehberger | 2009-05-31 12:25:24 -0700
Re-enabling shoulder pan rotation during unplug
----------------------------------------------------------------------
r24534 (orig r16475): gerkey | 2009-05-31 12:15:51 -0700
Removing scrubbed map to avoid confusion
----------------------------------------------------------------------
r24533 (orig r16474): gerkey | 2009-05-31 11:38:34 -0700
Lowering max speed to accommodate lower laser scan rate, #1532
----------------------------------------------------------------------
r24532 (orig r16473): mcgann | 2009-05-31 11:34:34 -0700
Revert to prior policy for global navigation
----------------------------------------------------------------------
r24531 (orig r16472): mcgann | 2009-05-31 10:34:04 -0700
Need the ROS REactor for Scott
----------------------------------------------------------------------
r24530 (orig r16471): mcgann | 2009-05-31 10:06:41 -0700
Implemented recovery for the awakward case of an almost fully open door
----------------------------------------------------------------------
r24529 (orig r16470): mcgann | 2009-05-31 09:58:17 -0700
Force a rewind to detect outlet again from the approach positionin the evenet of failure.
----------------------------------------------------------------------
r24527 (orig r16468): mcgann | 2009-05-30 16:25:20 -0700
Integrated move_base to drive thru a doorway into the doorman. This allows a context dependent time bound to be added, and also allows us to generate an abort which will result in aborting the top level behavior. I have also modified the master so that we do not assume the pose based on completion of the prior action.
----------------------------------------------------------------------
r24526 (orig r16467): mcgann | 2009-05-30 11:51:41 -0700
Tests for all reachable outlets
----------------------------------------------------------------------
r24525 (orig r16466): mcgann | 2009-05-30 11:27:28 -0700
Making remote interface version and test version sharing the same TREX configuration - this will include the orienterring solver
----------------------------------------------------------------------
r24524 (orig r16465): mcgann | 2009-05-30 11:25:28 -0700
Restructuring test cases to share files more effectlively
----------------------------------------------------------------------
r24523 (orig r16464): mcgann | 2009-05-30 11:17:58 -0700
Restructuring test cases to share files more effectlively
----------------------------------------------------------------------
r24522 (orig r16463): mcgann | 2009-05-30 11:14:31 -0700
Restructuring test cases to share files more effectlively
----------------------------------------------------------------------
r24510 (orig r16454): stuglaser | 2009-05-29 20:51:37 -0700
There's tragedy in being too successful
----------------------------------------------------------------------
r24509 (orig r16453): stuglaser | 2009-05-29 20:51:13 -0700
Plug_in tries to the right, instead of directly below
----------------------------------------------------------------------
r24508 (orig r16452): mcgann | 2009-05-29 20:48:37 -0700
Less time
----------------------------------------------------------------------
r24507 (orig r16451): meeussen | 2009-05-29 20:43:15 -0700
remove debug timeout
----------------------------------------------------------------------
r24506 (orig r16450): stuglaser | 2009-05-29 20:10:43 -0700
Ok, not using that effort controller anymore
----------------------------------------------------------------------
r24505 (orig r16449): wghassan | 2009-05-29 19:44:37 -0700
added change_notifier
----------------------------------------------------------------------
r24504 (orig r16448): eitanme | 2009-05-29 19:44:03 -0700
only delete points which are farther away when removing veiling
----------------------------------------------------------------------
r24503 (orig r16447): wghassan | 2009-05-29 19:43:53 -0700
launch file
----------------------------------------------------------------------
r24502 (orig r16446): stuglaser | 2009-05-29 19:25:34 -0700
Gah
----------------------------------------------------------------------
r24501 (orig r16445): stuglaser | 2009-05-29 19:20:13 -0700
Shouldn't have committed stuff right before a demo
----------------------------------------------------------------------
r24500 (orig r16444): stuglaser | 2009-05-29 19:11:50 -0700
Unplugging stops pushing on the shoulder pan
----------------------------------------------------------------------
r24499 (orig r16443): stuglaser | 2009-05-29 19:11:01 -0700
Fixed plug_in test script
----------------------------------------------------------------------
r24498 (orig r16442): meeussen | 2009-05-29 19:02:24 -0700
max speed now .53 m/sec
----------------------------------------------------------------------
r24497 (orig r16441): meeussen | 2009-05-29 18:54:55 -0700
fix problem with no-info in costmap, and add lots of debug info
----------------------------------------------------------------------
r24495 (orig r16439): mcgann | 2009-05-29 18:48:15 -0700
Need this
----------------------------------------------------------------------
r24494 (orig r16438): mcgann | 2009-05-29 18:14:37 -0700
WTF
----------------------------------------------------------------------
r24493 (orig r16437): bhaskarama | 2009-05-29 18:06:02 -0700
unreverted tmap; corrected door override ids
----------------------------------------------------------------------
r24492 (orig r16436): mcgann | 2009-05-29 18:03:15 -0700
Redundant
----------------------------------------------------------------------
r24491 (orig r16435): mcgann | 2009-05-29 18:02:00 -0700
A test version of the milestone with no goals, but launching a ROSReactor to connect over ROS
----------------------------------------------------------------------
r24490 (orig r16434): mcgann | 2009-05-29 17:51:36 -0700
A working ros service call for requesting goals
----------------------------------------------------------------------
r24489 (orig r16433): mcgann | 2009-05-29 17:50:04 -0700
Accessing TREX core api to expose a ros service
----------------------------------------------------------------------
r24488 (orig r16432): stuglaser | 2009-05-29 17:47:16 -0700
Unplug now pushes the shoulder out to avoid singularities
----------------------------------------------------------------------
r24487 (orig r16431): stuglaser | 2009-05-29 17:46:40 -0700
joint_effort_controller now adds efforts (rather than setting)
----------------------------------------------------------------------
r24486 (orig r16430): stuglaser | 2009-05-29 17:46:21 -0700
plug_in now communicates the plug offset to unplug
----------------------------------------------------------------------
r24485 (orig r16429): meeussen | 2009-05-29 17:44:03 -0700
remove john's office
----------------------------------------------------------------------
r24484 (orig r16428): meeussen | 2009-05-29 17:41:19 -0700
close gripper so we don't hit ourselves as much
----------------------------------------------------------------------
r24483 (orig r16427): pmihelich | 2009-05-29 17:38:56 -0700
prosilica_cam: Prosilica node now waits for autoexposure to settle on startup so that first few polled images aren't overexposed.
----------------------------------------------------------------------
r24481 (orig r16425): meeussen | 2009-05-29 17:21:44 -0700
revert commit 16424
----------------------------------------------------------------------
r24478 (orig r16423): eitanme | 2009-05-29 17:04:25 -0700
Fixed inconsistency between planner and controller costmaps
----------------------------------------------------------------------
r24474 (orig r16419): pmihelich | 2009-05-29 16:51:17 -0700
prosilica_cam: Fix for first few captured frames being overexposed.
----------------------------------------------------------------------
r24473 (orig r16418): mcgann | 2009-05-29 16:16:18 -0700
For service client side test
----------------------------------------------------------------------
r24472 (orig r16417): mcgann | 2009-05-29 15:59:57 -0700
Gripper effort controller to be required by safety tuck arms
----------------------------------------------------------------------
r24470 (orig r16415): mcgann | 2009-05-29 15:26:19 -0700
Adding a recovery at the highest level by regenerating the goal
----------------------------------------------------------------------
r24469 (orig r16414): mcgann | 2009-05-29 15:25:50 -0700
Adding a service interface
----------------------------------------------------------------------
r24468 (orig r16413): mcgann | 2009-05-29 15:22:53 -0700
Simulation for testing highlevel control
----------------------------------------------------------------------
r24467 (orig r16412): mcgann | 2009-05-29 15:21:05 -0700
Adding a service interface
----------------------------------------------------------------------
r24465 (orig r16410): pmihelich | 2009-05-29 15:15:49 -0700
prosilica_cam: Updated intrinsics for 101745 (prg).
----------------------------------------------------------------------
r24463 (orig r16408): ehberger | 2009-05-29 15:05:08 -0700
Change pick_goals to only list valid IDs
----------------------------------------------------------------------
r24462 (orig r16407): eitanme | 2009-05-29 14:58:34 -0700
increasing neighbors so that the arm veil doesn't produce ground hits
----------------------------------------------------------------------
r24459 (orig r16406): eitanme | 2009-05-29 14:45:17 -0700
merging changes from trunk
----------------------------------------------------------------------
r24458 (orig r16405): eitanme | 2009-05-29 14:28:35 -0700
Now loads display config on launch
----------------------------------------------------------------------
r24456 (orig r16403): bhaskarama | 2009-05-29 14:18:40 -0700
scrubbed room beside photocopier
----------------------------------------------------------------------
r24455 (orig r16402): meeussen | 2009-05-29 14:02:04 -0700
Fixed dumb bug in throttle
----------------------------------------------------------------------
r24454 (orig r16401): mcgann | 2009-05-29 13:52:34 -0700
Will force redetection
----------------------------------------------------------------------
r24453 (orig r16400): mcgann | 2009-05-29 13:43:10 -0700
New recovery if move base local aborts
----------------------------------------------------------------------
r24452 (orig r16399): ehberger | 2009-05-29 13:42:10 -0700
Change stereo driver to run on machine 4
----------------------------------------------------------------------
r24448 (orig r16395): eitanme | 2009-05-29 13:26:47 -0700
Different patience parameters
----------------------------------------------------------------------
r24447 (orig r16394): eitanme | 2009-05-29 13:26:11 -0700
Moving near the goal wasn't really doing any good, might as well abort and clear space in a risky manner if the executive wants
----------------------------------------------------------------------
r24444 (orig r16391): gerkey | 2009-05-29 13:16:05 -0700
Reuse old buffer instead of allocating a new one for each message, and
build in release. The goal is to reduce CPU usage, #1519.
----------------------------------------------------------------------
r24436 (orig r16383): stuglaser | 2009-05-29 12:25:37 -0700
Applies the per-outlet offset for the plug_in2 action
----------------------------------------------------------------------
r24435 (orig r16382): stuglaser | 2009-05-29 12:25:16 -0700
Correctly applies the outlet offset in the plug_in action
----------------------------------------------------------------------
r24434 (orig r16381): stuglaser | 2009-05-29 12:24:57 -0700
The test script now takes the outlet id as an argument
----------------------------------------------------------------------
r24433 (orig r16380): stuglaser | 2009-05-29 12:24:39 -0700
Applying the per-outlet offsets correctly.
----------------------------------------------------------------------
r24431 (orig r16378): meeussen | 2009-05-29 11:58:43 -0700
all goals for milestone 2
----------------------------------------------------------------------
r24430 (orig r16377): meeussen | 2009-05-29 11:57:55 -0700
set time limit to unlimited
----------------------------------------------------------------------
r24429 (orig r16376): meeussen | 2009-05-29 11:57:20 -0700
fixed stale state on param server, veiling off robot arm for laser scan, tilt scan profile
----------------------------------------------------------------------
r24426 (orig r16373): meeussen | 2009-05-29 11:40:24 -0700
Merged in r16369 from trunk to fix stereocam timestamp problems.
----------------------------------------------------------------------
r24425 (orig r16372): eitanme | 2009-05-29 11:32:49 -0700
merging r16362 into milestone2 branch
----------------------------------------------------------------------
r24424 (orig r16371): pmihelich | 2009-05-29 11:11:24 -0700
outlet_detection: Added script to compute outlet offsets.
----------------------------------------------------------------------
r24423 (orig r16370): pmihelich | 2009-05-29 11:08:21 -0700
outlet_detection: Merged in change from Victor to be more robust to outlet markings and specularities. Uses convex hull of the orange blob instead of the connected component.
----------------------------------------------------------------------
r24421 (orig r16368): tfoote | 2009-05-29 10:59:58 -0700
moving stereo throttling onto machine with stereo proc to avoid network transfer
----------------------------------------------------------------------
r24420 (orig r16367): stuglaser | 2009-05-29 10:50:48 -0700
Different plug offsets for prf and prg
----------------------------------------------------------------------
r24414 (orig r16361): mcgann | 2009-05-29 08:43:09 -0700
Fix for ticket 1502.
----------------------------------------------------------------------
r24413 (orig r16360): mcgann | 2009-05-29 08:41:50 -0700
Misc
----------------------------------------------------------------------
r24412 (orig r16359): mcgann | 2009-05-29 08:41:29 -0700
make a bigger plateau
----------------------------------------------------------------------
r24409 (orig r16356): ehberger | 2009-05-29 05:37:24 -0700
fixing typo and reverting change to timeout which caused crashes
----------------------------------------------------------------------
r24408 (orig r16355): ehberger | 2009-05-29 05:34:44 -0700
allow longer tiemout for spiraling in to plug
----------------------------------------------------------------------
r24407 (orig r16354): ehberger | 2009-05-29 05:33:32 -0700
Made output of goal generation script into valid nddl
----------------------------------------------------------------------
r24406 (orig r16353): ehberger | 2009-05-29 05:32:25 -0700
Changes to plugging in - gentler approach during spiral
----------------------------------------------------------------------
r24405 (orig r16352): ehberger | 2009-05-29 05:31:39 -0700
Change to hybrid controller to reset integral term when switching modes
----------------------------------------------------------------------
r24401 (orig r16348): eitanme | 2009-05-28 23:05:19 -0700
Higher tolerances for move base
----------------------------------------------------------------------
r24400 (orig r16347): stuglaser | 2009-05-28 22:46:00 -0700
localize_plug_in_gripper and plug_in need to keep the plug tracker active
----------------------------------------------------------------------
r24399 (orig r16346): stuglaser | 2009-05-28 22:45:44 -0700
Made the plug_node go inactive when not being used.
----------------------------------------------------------------------
r24398 (orig r16345): stuglaser | 2009-05-28 22:45:01 -0700
Less aggressive action watcher
----------------------------------------------------------------------
r24396 (orig r16343): meeussen | 2009-05-28 21:44:24 -0700
hope this fixed the door dir so we don't try to pull open doors
----------------------------------------------------------------------
r24395 (orig r16342): meeussen | 2009-05-28 21:38:13 -0700
this uses a lot of cpu
----------------------------------------------------------------------
r24394 (orig r16341): meeussen | 2009-05-28 21:37:12 -0700
fix stereo cloud problem
----------------------------------------------------------------------
r24393 (orig r16340): meeussen | 2009-05-28 21:36:24 -0700
monster time limit
----------------------------------------------------------------------
r24390 (orig r16337): tfoote | 2009-05-28 20:37:11 -0700
fixing param call to be cached for it was causing major delays sometimes 40Hz -> 1/2Hz
----------------------------------------------------------------------
r24388 (orig r16335): pmihelich | 2009-05-28 19:34:37 -0700
outlet_detection: Merging in final changes from trunk.
----------------------------------------------------------------------
r24386 (orig r16333): meeussen | 2009-05-28 18:54:31 -0700
run on machine four
----------------------------------------------------------------------
r24385 (orig r16332): meeussen | 2009-05-28 18:52:26 -0700
use procilica
----------------------------------------------------------------------
r24384 (orig r16331): meeussen | 2009-05-28 18:51:58 -0700
sleep at start of service call
----------------------------------------------------------------------
r24383 (orig r16330): stuglaser | 2009-05-28 18:30:15 -0700
Don't take too long on the approach, even if we don't completely minimize the error.
----------------------------------------------------------------------
r24382 (orig r16329): eitanme | 2009-05-28 18:29:22 -0700
Switching frequencies on the laser did not work as intented... commenting out until we can fix it
----------------------------------------------------------------------
r24381 (orig r16328): stuglaser | 2009-05-28 18:26:41 -0700
Added the per-outlet offset to plug_in
----------------------------------------------------------------------
r24379 (orig r16326): mcgann | 2009-05-28 18:07:07 -0700
Correct bound
----------------------------------------------------------------------
r24375 (orig r16322): meeussen | 2009-05-28 17:30:27 -0700
set laser scanner to intensity mode
----------------------------------------------------------------------
r24374 (orig r16321): meeussen | 2009-05-28 17:30:15 -0700
add include and make function static
----------------------------------------------------------------------
r24372 (orig r16319): meeussen | 2009-05-28 17:05:28 -0700
reduse nim rot speed
----------------------------------------------------------------------
r24350 (orig r16318): eitanme | 2009-05-28 17:05:12 -0700
Move base local will now publish its goal point
----------------------------------------------------------------------
r24349 (orig r16317): meeussen | 2009-05-28 17:04:37 -0700
make action preemtable and add delay after head is positioned
----------------------------------------------------------------------
r24348 (orig r16316): eitanme | 2009-05-28 17:01:05 -0700
Adding setHokuyoMode function to set the laser to operate in navigate mode or intensity mode
----------------------------------------------------------------------
r24346 (orig r16314): mcgann | 2009-05-28 16:49:23 -0700
Fix for missing action
----------------------------------------------------------------------
r24345 (orig r16313): mcgann | 2009-05-28 16:34:54 -0700
Version with the door and plug domains with only a few door actions stubbed
----------------------------------------------------------------------
r24344 (orig r16312): mcgann | 2009-05-28 16:32:21 -0700
Masking preemption feedback
----------------------------------------------------------------------
r24343 (orig r16311): mcgann | 2009-05-28 16:31:31 -0700
Give more time
----------------------------------------------------------------------
r24342 (orig r16310): mcgann | 2009-05-28 16:30:59 -0700
Fix for topo map header change
----------------------------------------------------------------------
r24341 (orig r16309): eitanme | 2009-05-28 16:23:08 -0700
Voxel based by default now
----------------------------------------------------------------------
r24340 (orig r16308): eitanme | 2009-05-28 16:02:38 -0700
reverting master.cfg
----------------------------------------------------------------------
r24339 (orig r16307): tfoote | 2009-05-28 15:46:26 -0700
adding param to seperate sac line fitting threshold from ground inlier determination threshold
----------------------------------------------------------------------
r24338 (orig r16306): stuglaser | 2009-05-28 15:46:25 -0700
Working spiraling behavior for the plug_in2 action
----------------------------------------------------------------------
r24337 (orig r16305): stuglaser | 2009-05-28 15:46:06 -0700
Small changes to the plug in test scripts
----------------------------------------------------------------------
r24336 (orig r16304): stuglaser | 2009-05-28 15:45:48 -0700
Made a test script for the full plugging in
----------------------------------------------------------------------
r24335 (orig r16303): stuglaser | 2009-05-28 15:45:32 -0700
Changed plug_in2 to take in the outlet id
----------------------------------------------------------------------
r24334 (orig r16302): stuglaser | 2009-05-28 15:45:16 -0700
Uses plug_in2 for the milestone
----------------------------------------------------------------------
r24333 (orig r16301): stuglaser | 2009-05-28 15:45:02 -0700
Upped the gains on the gripper position controller as it wasn't saturating the motor current.
----------------------------------------------------------------------
r24332 (orig r16300): stuglaser | 2009-05-28 15:44:46 -0700
Loosened the gripper velocity limit to gain more effort
----------------------------------------------------------------------
r24330 (orig r16298): mcgann | 2009-05-28 15:23:02 -0700
To track down and fix timeout failure
----------------------------------------------------------------------
r24329 (orig r16297): mcgann | 2009-05-28 14:33:44 -0700
Imposing a time bound on detect outlet fine
----------------------------------------------------------------------
r24328 (orig r16296): meeussen | 2009-05-28 14:27:07 -0700
remove john's office
----------------------------------------------------------------------
r24327 (orig r16295): eitanme | 2009-05-28 13:53:08 -0700
Kitchen is no longer fair game
----------------------------------------------------------------------
r24325 (orig r16293): mcgann | 2009-05-28 13:07:57 -0700
Fixing the recharge_controller model and reducing redundant code
----------------------------------------------------------------------
r24324 (orig r16292): meeussen | 2009-05-28 13:02:04 -0700
remove master file
----------------------------------------------------------------------
r24321 (orig r16289): meeussen | 2009-05-28 12:05:22 -0700
add location
----------------------------------------------------------------------
r24320 (orig r16288): meeussen | 2009-05-28 12:04:15 -0700
merge from trunk
----------------------------------------------------------------------
r24316 (orig r16284): mcgann | 2009-05-28 11:23:57 -0700
The branch missed this
----------------------------------------------------------------------
r24312 (orig r16280): meeussen | 2009-05-28 10:37:47 -0700
Branch for milestone2
Modified Paths:
--------------
pkg/trunk/3rdparty/trex/Makefile
pkg/trunk/common/laser_scan/default_scan_shadows.xml
pkg/trunk/common/laser_scan/include/laser_scan/intensity_filter.h
pkg/trunk/common/laser_scan/include/laser_scan/scan_shadows_filter.h
pkg/trunk/common/laser_scan/src/scan_to_cloud.cpp
pkg/trunk/common/robot_actions/action_watcher.py
pkg/trunk/controllers/pr2_mechanism_controllers/CMakeLists.txt
pkg/trunk/controllers/pr2_mechanism_controllers/scripts/send_laser_traj_cmd_ms2.py
pkg/trunk/controllers/robot_mechanism_controllers/CMakeLists.txt
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_hybrid_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/msg/CartesianHybridState.msg
pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_hybrid_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/joint_effort_controller.cpp
pkg/trunk/demos/2dnav_pr2/config/costmap_common_params.yaml
pkg/trunk/demos/2dnav_pr2/config/ground_plane.xml
pkg/trunk/demos/2dnav_pr2/move_base/base_local_planner_voxel_params.yaml
pkg/trunk/demos/2dnav_pr2/move_base/move_base.xml
pkg/trunk/demos/2dnav_pr2/move_base/move_base_voxel.xml
pkg/trunk/demos/2dnav_pr2/move_base_local/base_local_planner_params.yaml
pkg/trunk/demos/2dnav_pr2/rviz/move_base.vcg
pkg/trunk/demos/2dnav_pr2/rviz/rviz_move_base.launch
pkg/trunk/demos/door_demos/launch/move_base_door.launch
pkg/trunk/demos/milestone2/milestone2_actions/config/navigation.xml
pkg/trunk/demos/milestone2/milestone2_actions/config/perception.xml
pkg/trunk/demos/milestone2/milestone2_actions/milestone2.launch
pkg/trunk/demos/milestone2/milestone2_actions/reset_controllers.launch
pkg/trunk/demos/plug_in/integration/r_arm_hybrid_controller.xml
pkg/trunk/drivers/cam/prosilica_cam/intrinsics_101745.ini
pkg/trunk/drivers/cam/prosilica_cam/intrinsics_101745.yml
pkg/trunk/drivers/cam/prosilica_cam/src/libprosilica/prosilica.cpp
pkg/trunk/drivers/cam/prosilica_cam/src/nodes/prosilica_node.cpp
pkg/trunk/drivers/cam/prosilica_cam/src/utilities/calibration.cpp
pkg/trunk/highlevel/doors/door_functions/src/door_functions.cpp
pkg/trunk/highlevel/doors/doors_core/include/doors_core/door_reactive_planner.h
pkg/trunk/highlevel/doors/doors_core/src/action_detect_door.cpp
pkg/trunk/highlevel/doors/doors_core/src/action_detect_handle.cpp
pkg/trunk/highlevel/doors/doors_core/src/action_push_door.cpp
pkg/trunk/highlevel/doors/doors_core/src/action_unlatch_handle.cpp
pkg/trunk/highlevel/doors/doors_core/src/door_reactive_planner.cpp
pkg/trunk/highlevel/doors/doors_core/src/move_base_door_action.cpp
pkg/trunk/highlevel/doors/doors_core/test/trigger_check_path.cpp
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/CMakeLists.txt
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/cfg/greedy.orienteering.solver.cfg
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/include/executive_trex_pr2/logclock.h
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/include/executive_trex_pr2/ros_action_adapter.h
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/manifest.xml
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/nddl/doors/door_controller.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/nddl/doors/doorman.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/nddl/doors/imports.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/nddl/master/master.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/nddl/nav/driver.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/nddl/nav/exports.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/nddl/nav/imports.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/nddl/plugs/imports.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/nddl/plugs/recharge_controller.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/nddl/plugs/recharger.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/nddl/rcs/exports.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/nddl/rcs/nav/exports.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/nddl/rcs/safety/exports.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/scripts/pick_goals.py
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/src/components.cpp
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/src/topological_map.cpp
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/doors/open_door.0/pr2.rcs.sim.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/doors/open_door.1/pr2.doorman.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/doors/open_door.1/pr2.rcs.sim.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/doors/real.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/doors/sim.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/locations.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/domain_tests/master.0/run_real.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/domain_tests/master.0/run_sim.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/domain_tests/master.0/run_stubs.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/domain_tests/master.1/run_real.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/domain_tests/master.1/run_sim.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/domain_tests/master.1/run_stubs.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/domain_tests/master.2/run_real.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/domain_tests/master.3/run_real.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/domain_tests/master.3/run_sim.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/domain_tests/master.3/run_stubs.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/domain_tests/master.4/run_real.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/domain_tests/master.4/run_sim.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/domain_tests/master.4/run_stubs.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/m2/goals.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/m2/no_plugs/master.cfg
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/m2/no_plugs/no_arms/run_real.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/pr2.rcs.sim.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/real.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/sim.master.cfg
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/plugs/recharge.1/pr2.recharger.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/plugs/recharger.cfg
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/sim/doors.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/sim/nav.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/topological_map_tests.cpp
pkg/trunk/highlevel/nav/include/nav/move_base.h
pkg/trunk/highlevel/nav/include/nav/move_base_local.h
pkg/trunk/highlevel/nav/src/move_base.cpp
pkg/trunk/highlevel/nav/src/move_base_local.cpp
pkg/trunk/highlevel/plugs/plugs_core/include/plugs_core/action_detect_outlet_fine.h
pkg/trunk/highlevel/plugs/plugs_core/include/plugs_core/action_plug_in.h
pkg/trunk/highlevel/plugs/plugs_core/include/plugs_core/action_plug_in2.h
pkg/trunk/highlevel/plugs/plugs_core/include/plugs_core/action_unplug.h
pkg/trunk/highlevel/plugs/plugs_core/launch/plugs_actions.launch
pkg/trunk/highlevel/plugs/plugs_core/src/action_detect_outlet_fine.cpp
pkg/trunk/highlevel/plugs/plugs_core/src/action_localize_plug_in_gripper.cpp
pkg/trunk/highlevel/plugs/plugs_core/src/action_plug_in.cpp
pkg/trunk/highlevel/plugs/plugs_core/src/action_plug_in2.cpp
pkg/trunk/highlevel/plugs/plugs_core/src/action_unplug.cpp
pkg/trunk/highlevel/plugs/plugs_core/src/action_untuck_arms.cpp
pkg/trunk/highlevel/plugs/plugs_core/src/run_plug_in2.cpp
pkg/trunk/highlevel/plugs/plugs_core/test/test_executive.cpp
pkg/trunk/highlevel/plugs/plugs_core/test/test_executive_hybrid.cpp
pkg/trunk/highlevel/plugs/plugs_core/test/test_plug_in.cpp
pkg/trunk/highlevel/plugs/plugs_core/test/test_stage_stow.cpp
pkg/trunk/highlevel/pr2_robot_actions/src/set_laser_tilt.cpp
pkg/trunk/highlevel/safety/safety_core/src/action_tuck_arms.cpp
pkg/trunk/mapping/door_handle_detector/src/handle_detector_vision.cpp
pkg/trunk/mapping/semantic_point_annotator/src/sac_inc_ground_removal.cpp
pkg/trunk/mechanism/mechanism_control/CMakeLists.txt
pkg/trunk/mechanism/mechanism_model/CMakeLists.txt
pkg/trunk/mechanism/mechanism_model/include/mechanism_model/chain.h
pkg/trunk/mechanism/mechanism_model/src/chain.cpp
pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/prf.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/prg.launch
pkg/trunk/robot_descriptions/pr2/pr2_default_controllers/r_gripper_position_controller.xml
pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/gripper_defs.xml
pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/head_defs.xml
pkg/trunk/util/mux/CMakeLists.txt
pkg/trunk/util/mux/throttle.cpp
pkg/trunk/vision/outlet_detection/include/outlet_detection/tracker_base.h
pkg/trunk/vision/outlet_detection/manifest.xml
pkg/trunk/vision/outlet_detection/src/outlet_spotting2.cpp
pkg/trunk/vision/outlet_detection/src/outlet_tracker.cpp
pkg/trunk/vision/outlet_detection/src/tracker_base.cpp
pkg/trunk/world_models/topological_map/include/topological_map/topological_map.h
pkg/trunk/world_models/willow_maps/willow-full-0.025.pgm
pkg/trunk/world_models/willow_maps/willow.tmap.door_overrides.xml
Added Paths:
-----------
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/include/executive_trex_pr2/ros_reactor.h
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/src/ros_reactor.cpp
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/srv/
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/srv/ExecuteGoals.srv
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/domain_tests/
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/domain_tests/master.0/
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/domain_tests/master.1/
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/domain_tests/master.2/
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/domain_tests/master.3/
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/domain_tests/master.4/
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/domain_tests/master.cfg
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/m2/high_level_sim/
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/m2/high_level_sim/pr2.rcs.sim.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/m2/high_level_sim/run_sim.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/m2/high_level_sim/sim.master.cfg
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/m2/no_arms/
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/m2/no_arms/master.cfg
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/m2/no_arms/pr2.mechanism_control.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/m2/no_arms/run_real.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/m2/no_arms/run_stubs.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/m2_remote_interface/
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/m2_remote_interface/pr2.master.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/m2_remote_interface/run_real.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/m2_remote_interface/run_sim.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/m2_remote_interface/run_stubs.launch
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/master.cfg
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/ros_reactor_test.cpp
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/sim/default_rules.nddl
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/trexfast.launch
pkg/trunk/highlevel/pr2_robot_actions/include/
pkg/trunk/highlevel/pr2_robot_actions/include/pr2_robot_actions/
pkg/trunk/highlevel/pr2_robot_actions/include/pr2_robot_actions/set_hokuyo_mode.h
pkg/trunk/vision/outlet_detection/scripts/calc_offsets.py
Removed Paths:
-------------
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/m2/master.cfg
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/master.0/
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/master.1/
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/master.2/
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/master.3/
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/master.4/
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/master/master.cfg
pkg/trunk/world_models/willow_maps/willow-full-0.025.scrubbed.pgm
Property Changed:
----------------
pkg/trunk/
pkg/trunk/world_models/topological_map/
pkg/trunk/world_models/willow_maps/
Property changes on: pkg/trunk
___________________________________________________________________
Modified: svk:merge
- 637b03a7-42c1-4bbd-8d43-e365e379942c:/prfilters:13971
637b03a7-42c1-4bbd-8d43-e365e379942c:/rosTF_to_tf:9746
920d6130-5740-4ec1-bb1a-45963d5fd813:/costmap_rework_branch:20583
920d6130-5740-4ec1-bb1a-45963d5fd813:/frameidpr:7015
920d6130-5740-4ec1-bb1a-45963d5fd813:/nav_rework:21482
920d6130-5740-4ec1-bb1a-45963d5fd813:/users/josh-pr:11755
920d6130-5740-4ec1-bb1a-45963d5fd813:/wgpkgtrunk:5865
f5854215-dd47-0410-b2c4-cdd35faa7885:/pkg/branches/josh:10136
f5854215-dd47-0410-b2c4-cdd35faa7885:/pkg/branches/rosbus:261
+ 637b03a7-42c1-4bbd-8d43-e365e379942c:/prfilters:13971
637b03a7-42c1-4bbd-8d43-e365e379942c:/rosTF_to_tf:9746
920d6130-5740-4ec1-bb1a-45963d5fd813:/costmap_rework_branch:20583
920d6130-5740-4ec1-bb1a-45963d5fd813:/frameidpr:7015
920d6130-5740-4ec1-bb1a-45963d5fd813:/nav_rework:21482
920d6130-5740-4ec1-bb1a-45963d5fd813:/users/josh-pr:11755
920d6130-5740-4ec1-bb1a-45963d5fd813:/wgpkgtrunk:5865
f5854215-dd47-0410-b2c4-cdd35faa7885:/pkg/branches/josh:10136
f5854215-dd47-0410-b2c4-cdd35faa7885:/pkg/branches/milestone2:16602
f5854215-dd47-0410-b2c4-cdd35faa7885:/pkg/branches/rosbus:261
f5854215-dd47-0410-b2c4-cdd35faa7885:/pkg/tags/milestone2_tags/milestone2_final:16577
Modified: pkg/trunk/3rdparty/trex/Makefile
===================================================================
--- pkg/trunk/3rdparty/trex/Makefile 2009-06-02 21:28:35 UTC (rev 16611)
+++ pkg/trunk/3rdparty/trex/Makefile 2009-06-02 21:28:44 UTC (rev 16612)
@@ -42,8 +42,8 @@
@if [ ! -d PlanWorks ]; then $(SVN_CMDLINE) co -r $(PLANWORKS_REVISION) http://europa-pso.googlecode.com/svn/PlanWorks/trunk PlanWorks; fi ;
@if [ ! -n "`svn info PlanWorks | grep 'Revision: $(PLANWORKS_REVISION)'`" ]; then cd PlanWorks && $(SVN_CMDLINE) up -r $(PLANWORKS_REVISION); fi;
-# Get TREXA
-TREX_REVISION=122
+# Get TREX
+TREX_REVISION=131
trex: plasma
@if [ ! -d TREX ]; then $(SVN_CMDLINE) co -r $(TREX_REVISION) http://trex-autonomy.googlecode.com/svn/trunk TREX; fi ;
@if [ ! -n "`svn info TREX | grep 'Revision: $(TREX_REVISION)'`" ]; then cd TREX && $(SVN_CMDLINE) up -r $(TREX_REVISION); fi;
Modified: pkg/trunk/common/laser_scan/default_scan_shadows.xml
===================================================================
--- pkg/trunk/common/laser_scan/default_scan_shadows.xml 2009-06-02 21:28:35 UTC (rev 16611)
+++ pkg/trunk/common/laser_scan/default_scan_shadows.xml 2009-06-02 21:28:44 UTC (rev 16612)
@@ -1,6 +1,9 @@
<filters>
<filter type="ScanShadowsFilter" name="shadows">
- <params min_angle="10" max_angle="170" window="1" neighbors="1"/>
+ <params min_angle="10" max_angle="170" window="1" neighbors="20"/>
</filter>
+ <filter type="LaserScanIntensityFilter" name="dark_shadows">
+ <params lower_threshold="100" upper_threshold="10000" disp_histogram="0"/>
+ </filter>
</filters>
Modified: pkg/trunk/common/laser_scan/include/laser_scan/intensity_filter.h
===================================================================
--- pkg/trunk/common/laser_scan/include/laser_scan/intensity_filter.h 2009-06-02 21:28:35 UTC (rev 16611)
+++ pkg/trunk/common/laser_scan/include/laser_scan/intensity_filter.h 2009-06-02 21:28:44 UTC (rev 16612)
@@ -115,8 +115,8 @@
return true;
}
} ;
-
-FILTERS_REGISTER_FILTER(LaserScanIntensityFilter, LaserScan);
+typedef laser_scan::LaserScan laser_scan_laser_scan;
+FILTERS_REGISTER_FILTER(LaserScanIntensityFilter, laser_scan_laser_scan);
}
#endif // LASER_SCAN_INTENSITY_FILTER_H
Modified: pkg/trunk/common/laser_scan/include/laser_scan/scan_shadows_filter.h
===================================================================
--- pkg/trunk/common/laser_scan/include/laser_scan/scan_shadows_filter.h 2009-06-02 21:28:35 UTC (rev 16611)
+++ pkg/trunk/common/laser_scan/include/laser_scan/scan_shadows_filter.h 2009-06-02 21:28:44 UTC (rev 16612)
@@ -144,7 +144,8 @@
{
for (int index = std::max<int>(i - neighbors_, 0); index <= std::min<int>(i+neighbors_, (int)scan_in.ranges.size()-1); index++)
{
- indices_to_delete.insert(index);
+ if (scan_in.ranges[i] < scan_in.ranges[index]) // delete neighbor if they are farther away (note not self)
+ indices_to_delete.insert(index);
}
}
Modified: pkg/trunk/common/laser_scan/src/scan_to_cloud.cpp
===================================================================
--- pkg/trunk/common/laser_scan/src/scan_to_cloud.cpp 2009-06-02 21:28:35 UTC (rev 16611)
+++ pkg/trunk/common/laser_scan/src/scan_to_cloud.cpp 2009-06-02 21:28:44 UTC (rev 16612)
@@ -49,6 +49,7 @@
//Filters
#include "laser_scan/scan_shadows_filter.h"
+#include "laser_scan/intensity_filter.h"
#include "laser_scan/point_cloud_footprint_filter.h"
#include "filters/filter_chain.h"
Modified: pkg/trunk/common/robot_actions/action_watcher.py
===================================================================
--- pkg/trunk/common/robot_actions/action_watcher.py 2009-06-02 21:28:35 UTC (rev 16611)
+++ pkg/trunk/common/robot_actions/action_watcher.py 2009-06-02 21:28:44 UTC (rev 16612)
@@ -116,7 +116,7 @@
for a in new_actions:
watchers.append(ActionWatcher(a))
- time.sleep(0.1)
+ time.sleep(0.5)
rospy.spin()
if __name__ == '__main__': main()
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/CMakeLists.txt
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/CMakeLists.txt 2009-06-02 21:28:35 UTC (rev 16611)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/CMakeLists.txt 2009-06-02 21:28:44 UTC (rev 16612)
@@ -1,6 +1,6 @@
cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-set(ROS_BUILD_TYPE Release)
+set(ROS_BUILD_TYPE RelWithDebInfo)
rospack(pr2_mechanism_controllers)
genmsg()
gensrv()
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/scripts/send_laser_traj_cmd_ms2.py
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/scripts/send_laser_traj_cmd_ms2.py 2009-06-02 21:28:35 UTC (rev 16611)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/scripts/send_laser_traj_cmd_ms2.py 2009-06-02 21:28:44 UTC (rev 16612)
@@ -35,8 +35,8 @@
cmd.pos = [1.2, -.7, 1.2]
cmd.time= [0.0, 1.8, 2.025]
- cmd.max_rate = 20 # Ignores param
- cmd.max_accel= 175 # ignores param
+ cmd.max_rate = 5 # Ignores param
+ cmd.max_accel= 5 # ignores param
print 'Sending Command to %s: ' % controller
print ' Profile Type: %s' % cmd.profile
Modified: pkg/trunk/controllers/robot_mechanism_controllers/CMakeLists.txt
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/CMakeLists.txt 2009-06-02 21:28:35 UTC (rev 16611)
+++ pkg/trunk/controllers/robot_mechanism_controllers/CMakeLists.txt 2009-06-02 21:28:44 UTC (rev 16612)
@@ -1,6 +1,6 @@
cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-set(ROS_BUILD_TYPE Release)
+set(ROS_BUILD_TYPE RelWithDebInfo)
rospack(robot_mechanism_controllers)
genmsg()
gensrv()
Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_hybrid_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_hybrid_controller.h 2009-06-02 21:28:35 UTC (rev 16611)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_hybrid_controller.h 2009-06-02 21:28:44 UTC (rev 16612)
@@ -68,6 +68,7 @@
KDL::Frame pose_meas_;
KDL::Twist twist_meas_;
KDL::Twist twist_meas_filtered_;
+ std::vector<double> measured_torque_, desired_torque_, max_jnt_eff_;
control_toolbox::Pid pose_pids_[6]; // (x,y,z) position, then (x,y,z) rot
control_toolbox::Pid twist_pids_[6];
Modified: pkg/trunk/controllers/robot_mechanism_controllers/msg/CartesianHybridState.msg
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/msg/CartesianHybridState.msg 2009-06-02 21:28:35 UTC (rev 16611)
+++ pkg/trunk/controllers/robot_mechanism_controllers/msg/CartesianHybridState.msg 2009-06-02 21:28:44 UTC (rev 16612)
@@ -9,3 +9,6 @@
robot_msgs/Twist last_twist_meas_filtered
robot_msgs/Twist last_twist_desi
robot_msgs/Wrench last_wrench_desi
+
+float64[] desired_torque
+float64[] measured_torque
Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_hybrid_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_hybrid_controller.cpp 2009-06-02 21:28:35 UTC (rev 16611)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_hybrid_controller.cpp 2009-06-02 21:28:44 UTC (rev 16612)
@@ -196,6 +196,26 @@
task_frame_offset_ = KDL::Frame::Identity();
+ // allocate vector in non-realtime
+ measured_torque_.resize(kdl_chain_.getNrOfJoints());
+ desired_torque_.resize(kdl_chain_.getNrOfJoints());
+ max_jnt_eff_.resize(kdl_chain_.getNrOfJoints());
+
+ // set default max jnt efforts
+ for (unsigned int i=0; i<kdl_chain_.getNrOfJoints(); i++)
+ max_jnt_eff_[i] = 100;
+
+ // @TODO: remove this ugly setting of joint effort limits
+ if (kdl_chain_.getNrOfJoints() >= 7){
+ max_jnt_eff_[0] = 12;
+ max_jnt_eff_[1] = 12;
+ max_jnt_eff_[2] = 7;
+ max_jnt_eff_[3] = 7;
+ max_jnt_eff_[4] = 12;
+ max_jnt_eff_[5] = 10;
+ max_jnt_eff_[6] = 10;
+ }
+
return true;
}
@@ -324,18 +344,36 @@
}
}
- // Transforms the wrench from the task frame to the chain root frame
- KDL::Wrench wrench_in_root;
- w...
[truncated message content] |
