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[Personalrobots-commit] SF.net SVN: personalrobots:[16953] pkg/trunk
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From: <hsu...@us...> - 2009-06-10 23:36:50
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Revision: 16953
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16953&view=rev
Author: hsujohnhsu
Date: 2009-06-10 23:36:45 +0000 (Wed, 10 Jun 2009)
Log Message:
-----------
fix erratic demo.
Modified Paths:
--------------
pkg/trunk/demos/erratic_gazebo/erratic.launch
pkg/trunk/robot_descriptions/erratic/erratic_defs/robots/erratic.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple_erratic.world
Modified: pkg/trunk/demos/erratic_gazebo/erratic.launch
===================================================================
--- pkg/trunk/demos/erratic_gazebo/erratic.launch 2009-06-10 23:29:11 UTC (rev 16952)
+++ pkg/trunk/demos/erratic_gazebo/erratic.launch 2009-06-10 23:36:45 UTC (rev 16953)
@@ -10,7 +10,7 @@
<param name="robotdesc/erratic" command="$(find xacro)/xacro.py '$(find erratic_defs)/robots/erratic.xml'" />
<!-- start gazebo -->
- <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/simple_erratic.world" respawn="false" output="screen">
+ <node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/gazebo_worlds/simple.world" respawn="false" output="screen">
<env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(optenv LD_LIBRARY_PATH)" />
<env name="GAZEBO_RESOURCE_PATH" value="$(find gazebo_robot_description):$(find gazebo)/gazebo/share/gazebo" />
<env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
Modified: pkg/trunk/robot_descriptions/erratic/erratic_defs/robots/erratic.xml
===================================================================
--- pkg/trunk/robot_descriptions/erratic/erratic_defs/robots/erratic.xml 2009-06-10 23:29:11 UTC (rev 16952)
+++ pkg/trunk/robot_descriptions/erratic/erratic_defs/robots/erratic.xml 2009-06-10 23:36:45 UTC (rev 16953)
@@ -66,7 +66,7 @@
<collision>
<origin xyz="-0.075 0 0.115" rpy="0 0 0" />
- <geometry name="box">
+ <geometry name="base_collision">
<box size="0.22 0.29 0.14" />
</geometry>
</collision>
@@ -79,7 +79,7 @@
<joint name="base_top_joint" type="fixed" />
<inertial>
- <mass value="0.01"/>
+ <mass value="1.0"/>
<com xyz="0 0 ${base_size_z/2}" />
<inertia ixx="0.0652232699207" ixy="0.0" ixz="0.0"
iyy="0.0669473158652" iyz="0.0"
@@ -91,7 +91,7 @@
<map name="gazebo_material" flag="gazebo">
<elem key="material" value="Gazebo/Blue" />
</map>
- <geometry name="base_visual">
+ <geometry name="base_top_visual">
<mesh scale="${base_size_x} ${base_size_y} 0.01" />
</geometry>
</visual>
@@ -99,7 +99,7 @@
<collision>
<origin xyz="-0.08 0 0.13" rpy="0 0 0" />
- <geometry name="box">
+ <geometry name="base_top_collision">
<box size="${base_size_x} ${base_size_y} 0.01" />
</geometry>
</collision>
@@ -120,7 +120,7 @@
<joint name="${parent}_${suffix}_wheel_joint" />
<origin xyz="0 ${reflect*caster_wheel_offset_y} ${wheel_radius}" rpy="0 0 0" />
<inertial>
- <mass value="0.01" /> <!-- check jmh 20081205 -->
+ <mass value="0.1" /> <!-- check jmh 20081205 -->
<com xyz=" 0 0 0 " />
<inertia ixx="0.012411765597" ixy="0.0" ixz="0.0"
iyy="0.015218160428" iyz="0.0"
@@ -174,14 +174,14 @@
<map name="gazebo_material" flag="gazebo">
<elem key="material" value="Gazebo/Black" />
</map>
- <geometry name="base_visual">
+ <geometry name="base_caster_box_visual">
<mesh scale="0.09 0.02 0.10" />
</geometry>
</visual>
<collision>
<origin xyz="-0.23 0 0.08" rpy="0 0 0" />
- <geometry name="box">
+ <geometry name="box_caster_box_collision">
<box size="0.09 0.02 0.10" />
</geometry>
</collision>
@@ -202,7 +202,7 @@
<joint name="base_caster_support_joint" type="fixed"/>
-->
<inertial>
- <mass value="0.01"/>
+ <mass value="0.1"/>
<com xyz="0 0 0" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0"
iyy="0.01" iyz="0.0"
@@ -214,14 +214,14 @@
<map name="gazebo_material" flag="gazebo">
<elem key="material" value="Gazebo/Grey" />
</map>
- <geometry name="base_visual">
+ <geometry name="base_caster_support_visual">
<mesh scale="0.03 0.02 0.06" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
- <geometry name="box">
+ <geometry name="base_caster_support_collision">
<box size="0.03 0.02 0.06" />
</geometry>
</collision>
@@ -249,7 +249,7 @@
<joint name="caster_wheel_joint" />
<origin xyz="-0.02 0 -0.02" rpy="0 0 0" />
<inertial>
- <mass value="0.01" />
+ <mass value="0.1" />
<com xyz=" 0 0 0 " />
<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983"
iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943" />
@@ -304,7 +304,7 @@
<origin rpy="0 0 0" xyz="0.0 0 0.205"/>
<joint name="base_laser_joint" type="fixed"/>
<inertial>
- <mass value="0.01"/>
+ <mass value="0.1"/>
<com xyz="0 0 0.0"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
@@ -329,6 +329,7 @@
<map flag="gazebo" name="sensor">
<verbatim key="sensor_base_laser_ray">
<sensor:ray name="base_laser">
+ <resRange>0.1</resRange>
<rayCount>640</rayCount>
<rangeCount>640</rangeCount>
<laserCount>1</laserCount>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple_erratic.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple_erratic.world 2009-06-10 23:29:11 UTC (rev 16952)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple_erratic.world 2009-06-10 23:36:45 UTC (rev 16953)
@@ -27,9 +27,9 @@
<stepTime>0.001</stepTime>
<gravity>0 0 -9.8</gravity>
<cfm>0.000000000001</cfm>
- <erp>0.2</erp>
+ <erp>0.5</erp>
<quickStep>true</quickStep>
- <quickStepIters>300</quickStepIters>
+ <quickStepIters>100</quickStepIters>
<quickStepW>1.3</quickStepW>
</physics:ode>
@@ -39,7 +39,7 @@
<rendering:gui>
<type>fltk</type>
- <imageSize>1024 800</imageSize>
+ <size>1024 800</size>
<pos>0 0</pos>
<frames>
<row height="100%">
@@ -70,6 +70,7 @@
<body:plane name="plane">
<geom:plane name="plane">
+ <laserRetro>2000.0</laserRetro>
<kp>1000000.0</kp>
<kd>1.0</kd>
<normal>0 0 1</normal>
@@ -82,7 +83,7 @@
<!-- The "desk"-->
<!-- small desks -->
- <model:physical name="../gazebo_objects/desk1_model">
+ <model:physical name="desk1_model">
<xyz>2.28 -0.21 0</xyz>
<rpy>0.0 0.0 0.0 </rpy>
<include embedded="true">
@@ -92,7 +93,7 @@
</model:physical>
<!-- The second "desk"-->
- <model:physical name="../gazebo_objects/desk2_model">
+ <model:physical name="desk2_model">
<xyz>2.25 -3.0 0</xyz>
<rpy>0.0 0.0 0.0 </rpy>
<include embedded="true">
@@ -116,6 +117,7 @@
<material>Gazebo/PioneerBody</material>
<mesh>unit_cylinder</mesh>
</visual>
+ <laserRetro>1.0</laserRetro>
</geom:cylinder>
<geom:box name="cylinder1_base_geom">
<kp>100000000.0</kp>
@@ -129,12 +131,13 @@
<material>Gazebo/Fish</material>
<mesh>unit_box</mesh>
</visual>
+ <laserRetro>1.0</laserRetro>
</geom:box>
</body:cylinder>
</model:physical>
<!-- The small box "cup" -->
- <model:physical name="../gazebo_objects/object1">
+ <model:physical name="object1">
<xyz>2.28 -0.21 0</xyz>
<rpy>0.0 0.0 0.0 </rpy>
<include embedded="true">
@@ -239,6 +242,7 @@
</model:physical>
<model:empty name="factory_model">
+ <model_thread>false</model_thread>
<controller:factory name="factory_controller">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
@@ -247,7 +251,6 @@
</model:empty>
<!-- White Directional light -->
- <!--
<model:renderable name="directional_white">
<light>
<type>directional</type>
@@ -255,8 +258,10 @@
<diffuseColor>0.4 0.4 0.4</diffuseColor>
<specularColor>0.0 0.0 0.0</specularColor>
<attenuation>1 0.0 1.0 0.4</attenuation>
+ <range>10</range>
</light>
</model:renderable>
+ <!--
-->
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