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[Personalrobots-commit] SF.net SVN: personalrobots:[17182] pkg/trunk
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From: <is...@us...> - 2009-06-16 23:45:30
|
Revision: 17182
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=17182&view=rev
Author: isucan
Date: 2009-06-16 23:45:28 +0000 (Tue, 16 Jun 2009)
Log Message:
-----------
some launch files
Modified Paths:
--------------
pkg/trunk/demos/tabletop_manipulation/manifest.xml
Added Paths:
-----------
pkg/trunk/demos/tabletop_manipulation/launch/old/
pkg/trunk/demos/tabletop_manipulation/launch/old/arm.launch
pkg/trunk/demos/tabletop_manipulation/launch/old/base.launch
pkg/trunk/demos/tabletop_manipulation/launch/old/controllers.launch
pkg/trunk/demos/tabletop_manipulation/launch/old/controllers_sim.launch
pkg/trunk/demos/tabletop_manipulation/launch/old/debug_plot.launch
pkg/trunk/demos/tabletop_manipulation/launch/old/ekf.launch
pkg/trunk/demos/tabletop_manipulation/launch/old/full_body.launch
pkg/trunk/demos/tabletop_manipulation/launch/old/gazebo.launch
pkg/trunk/demos/tabletop_manipulation/launch/old/head_trajectory_controller.xml
pkg/trunk/demos/tabletop_manipulation/launch/old/hw.launch
pkg/trunk/demos/tabletop_manipulation/launch/old/l_gripper_effort_controller.xml
pkg/trunk/demos/tabletop_manipulation/launch/old/laser.launch
pkg/trunk/demos/tabletop_manipulation/launch/old/laser_sim.launch
pkg/trunk/demos/tabletop_manipulation/launch/old/nav.launch
pkg/trunk/demos/tabletop_manipulation/launch/old/nav_sim.launch
pkg/trunk/demos/tabletop_manipulation/launch/old/perception.launch
pkg/trunk/demos/tabletop_manipulation/launch/old/perception_sim.launch
pkg/trunk/demos/tabletop_manipulation/launch/old/planning.launch
pkg/trunk/demos/tabletop_manipulation/launch/old/r_gripper_effort_controller.xml
pkg/trunk/demos/tabletop_manipulation/launch/old/sim.launch
pkg/trunk/demos/tabletop_manipulation/launch/old/teleop.launch
pkg/trunk/demos/tabletop_manipulation/launch/old/torso_effort_controller.xml
pkg/trunk/demos/tabletop_manipulation/launch/old/trajectory_controllers.xml
pkg/trunk/demos/tabletop_manipulation/launch/old/two_arm_trajectory_controller.xml
pkg/trunk/demos/tabletop_manipulation/launch/perception.launch
pkg/trunk/demos/tabletop_manipulation/launch/simulation.launch
pkg/trunk/drivers/robot/pr2/point_cloud_assembler/point_cloud_assembler.launch
pkg/trunk/mapping/collision_map/collision_map.launch
Removed Paths:
-------------
pkg/trunk/demos/tabletop_manipulation/launch/arm.launch
pkg/trunk/demos/tabletop_manipulation/launch/base.launch
pkg/trunk/demos/tabletop_manipulation/launch/controllers.launch
pkg/trunk/demos/tabletop_manipulation/launch/controllers_sim.launch
pkg/trunk/demos/tabletop_manipulation/launch/debug_plot.launch
pkg/trunk/demos/tabletop_manipulation/launch/ekf.launch
pkg/trunk/demos/tabletop_manipulation/launch/full_body.launch
pkg/trunk/demos/tabletop_manipulation/launch/gazebo.launch
pkg/trunk/demos/tabletop_manipulation/launch/head_trajectory_controller.xml
pkg/trunk/demos/tabletop_manipulation/launch/hw.launch
pkg/trunk/demos/tabletop_manipulation/launch/l_gripper_effort_controller.xml
pkg/trunk/demos/tabletop_manipulation/launch/laser.launch
pkg/trunk/demos/tabletop_manipulation/launch/laser_sim.launch
pkg/trunk/demos/tabletop_manipulation/launch/nav.launch
pkg/trunk/demos/tabletop_manipulation/launch/nav_sim.launch
pkg/trunk/demos/tabletop_manipulation/launch/perception.launch
pkg/trunk/demos/tabletop_manipulation/launch/perception_sim.launch
pkg/trunk/demos/tabletop_manipulation/launch/planning.launch
pkg/trunk/demos/tabletop_manipulation/launch/r_gripper_effort_controller.xml
pkg/trunk/demos/tabletop_manipulation/launch/sim.launch
pkg/trunk/demos/tabletop_manipulation/launch/teleop.launch
pkg/trunk/demos/tabletop_manipulation/launch/torso_effort_controller.xml
pkg/trunk/demos/tabletop_manipulation/launch/trajectory_controllers.xml
pkg/trunk/demos/tabletop_manipulation/launch/two_arm_trajectory_controller.xml
pkg/trunk/mapping/collision_map/collision_map.xml
Deleted: pkg/trunk/demos/tabletop_manipulation/launch/arm.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/arm.launch 2009-06-16 23:37:08 UTC (rev 17181)
+++ pkg/trunk/demos/tabletop_manipulation/launch/arm.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -1,37 +0,0 @@
-<launch>
-<!-- Arm trajectory controller -->
- <param name="right_arm_trajectory_controller/velocity_scaling_factor" type="double" value="0.1"/>
- <param name="right_arm_trajectory_controller/trajectory_wait_timeout" type="double" value=".25"/>
-
- <param name="right_arm_trajectory_controller/r_shoulder_pan_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="right_arm_trajectory_controller/r_shoulder_lift_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="right_arm_trajectory_controller/r_shoulder_roll_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="right_arm_trajectory_controller/r_elbow_flex_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="right_arm_trajectory_controller/r_forearm_roll_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="right_arm_trajectory_controller/r_wrist_flex_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="right_arm_trajectory_controller/r_wrist_roll_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="right_arm_trajectory_controller/r_gripper_l_finger_joint/goal_reached_threshold" type="double" value="0.1"/>
-
- <param name="left_arm_trajectory_controller/velocity_scaling_factor" type="double" value="1.0"/>
- <param name="left_arm_trajectory_controller/trajectory_wait_timeout" type="double" value=".25"/>
-
- <param name="left_arm_trajectory_controller/l_shoulder_pan_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="left_arm_trajectory_controller/l_shoulder_lift_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="left_arm_trajectory_controller/l_shoulder_roll_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="left_arm_trajectory_controller/l_elbow_flex_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="left_arm_trajectory_controller/l_forearm_roll_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="left_arm_trajectory_controller/l_wrist_flex_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="left_arm_trajectory_controller/l_wrist_roll_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="left_arm_trajectory_controller/l_gripper_l_finger_joint/goal_reached_threshold" type="double" value="0.1"/>
-
-
- <node pkg="mechanism_control" type="spawner.py" args="$(find tabletop_manipulation)/launch/trajectory_controllers.xml" output="screen"/>
-
- <!-- Gripper effort controller -->
- <node pkg="mechanism_control" type="spawner.py" args="$(find tabletop_manipulation)/launch/r_gripper_effort_controller.xml" output="screen"/>
-
- <!-- Torso effort controller -->
- <node pkg="mechanism_control" type="spawner.py" args="$(find tabletop_manipulation)/launch/torso_effort_controller.xml" output="screen"/>
-
-</launch>
-
Deleted: pkg/trunk/demos/tabletop_manipulation/launch/base.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/base.launch 2009-06-16 23:37:08 UTC (rev 17181)
+++ pkg/trunk/demos/tabletop_manipulation/launch/base.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -1,4 +0,0 @@
-<launch>
-<param name="base_controller/odom_publish_rate" value="30.0"/>
-<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" output="screen"/>
-</launch>
Deleted: pkg/trunk/demos/tabletop_manipulation/launch/controllers.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/controllers.launch 2009-06-16 23:37:08 UTC (rev 17181)
+++ pkg/trunk/demos/tabletop_manipulation/launch/controllers.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -1,5 +0,0 @@
-<launch>
- <include file="$(find tabletop_manipulation)/launch/laser.launch"/>
- <include file="$(find tabletop_manipulation)/launch/base.launch"/>
- <!--include file="$(find tabletop_manipulation)/launch/arm.launch"/-->
-</launch>
Deleted: pkg/trunk/demos/tabletop_manipulation/launch/controllers_sim.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/controllers_sim.launch 2009-06-16 23:37:08 UTC (rev 17181)
+++ pkg/trunk/demos/tabletop_manipulation/launch/controllers_sim.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -1,7 +0,0 @@
-<launch>
- <include file="$(find tabletop_manipulation)/launch/laser_sim.launch"/>
- <include file="$(find tabletop_manipulation)/launch/arm.launch"/>
- <include file="$(find tabletop_manipulation)/launch/base.launch"/>
-
- <node pkg="tabletop_manipulation" type="tuckarm.py" args="left"/>
-</launch>
Deleted: pkg/trunk/demos/tabletop_manipulation/launch/debug_plot.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/debug_plot.launch 2009-06-16 23:37:08 UTC (rev 17181)
+++ pkg/trunk/demos/tabletop_manipulation/launch/debug_plot.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -1,5 +0,0 @@
-<launch>
- <node pkg="rosviz" type="rxplot" args="-m. -p10 /mechanism_state/joint_states[25]/position:commanded_effort,/mechanism_state/joint_states[28]/position:commanded_effort" output="screen"/>
- <node pkg="rosviz" type="rxplot" args="-m. -p10 /mechanism_state/joint_states[25]/position,/mechanism_state/joint_states[28]/position" output="screen"/>
-</launch>
-
Deleted: pkg/trunk/demos/tabletop_manipulation/launch/ekf.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/ekf.launch 2009-06-16 23:37:08 UTC (rev 17181)
+++ pkg/trunk/demos/tabletop_manipulation/launch/ekf.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -1,12 +0,0 @@
-<launch>
- <include file="$(find pr2_alpha)/$(env ROBOT).machine" />
-
- <param name="robot_pose_ekf/freq" value="30.0"/>
- <param name="robot_pose_ekf/sensor_timeout" value="1.0"/>
- <param name="robot_pose_ekf/odom_used" value="true"/>
- <param name="robot_pose_ekf/imu_used" value="true"/>
- <param name="robot_pose_ekf/vo_used" value="false"/>
-
- <node pkg="robot_pose_ekf" type="robot_pose_ekf" args="robot_pose_ekf"
- machine="four"/>
-</launch>
Deleted: pkg/trunk/demos/tabletop_manipulation/launch/full_body.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/full_body.launch 2009-06-16 23:37:08 UTC (rev 17181)
+++ pkg/trunk/demos/tabletop_manipulation/launch/full_body.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -1,36 +0,0 @@
-<launch>
-<!-- Arm trajectory controller -->
- <param name="arm_trajectory_controller/velocity_scaling_factor" type="double" value="0.25"/>
- <param name="arm_trajectory_controller/trajectory_wait_timeout" type="double" value="0.25"/>
-
- <param name="arm_trajectory_controller/r_shoulder_pan_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="arm_trajectory_controller/r_shoulder_lift_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="arm_trajectory_controller/r_upper_arm_roll_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="arm_trajectory_controller/r_elbow_flex_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="arm_trajectory_controller/r_forearm_roll_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="arm_trajectory_controller/r_wrist_flex_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="arm_trajectory_controller/r_wrist_roll_joint/goal_reached_threshold" type="double" value="0.1"/>
-
- <param name="arm_trajectory_controller/l_shoulder_pan_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="arm_trajectory_controller/l_shoulder_lift_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="arm_trajectory_controller/l_shoulder_roll_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="arm_trajectory_controller/l_elbow_flex_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="arm_trajectory_controller/l_forearm_roll_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="arm_trajectory_controller/l_wrist_flex_joint/goal_reached_threshold" type="double" value="0.1"/>
- <param name="arm_trajectory_controller/l_wrist_roll_joint/goal_reached_threshold" type="double" value="0.1"/>
-
- <node pkg="mechanism_control" type="spawner.py" args="$(find tabletop_manipulation)/launch/two_arm_trajectory_controller.xml" output="screen"/>
-
- <!-- Gripper effort controller -->
-
- <node pkg="mechanism_control" type="spawner.py" args="$(find tabletop_manipulation)/launch/r_gripper_effort_controller.xml" output="screen"/>
- <node pkg="mechanism_control" type="spawner.py" args="$(find tabletop_manipulation)/launch/l_gripper_effort_controller.xml" output="screen"/>
-
- <!-- Torso effort controller -->
- <node pkg="mechanism_control" type="spawner.py" args="$(find tabletop_manipulation)/launch/torso_effort_controller.xml" output="screen"/>
-
- <!-- Head trajectory controller -->
- <node pkg="mechanism_control" type="spawner.py" args="$(find tabletop_manipulation)/launch/head_trajectory_controller.xml" output="screen"/>
-
-</launch>
-
Deleted: pkg/trunk/demos/tabletop_manipulation/launch/gazebo.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/gazebo.launch 2009-06-16 23:37:08 UTC (rev 17181)
+++ pkg/trunk/demos/tabletop_manipulation/launch/gazebo.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -1,17 +0,0 @@
-<launch>
- <!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/pr2/pr2_defs/robots for full pr2 -->
- <!-- send pr2.xml to param server -->
- <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
-
- <!-- start gazebo -->
- <node pkg="gazebo" type="gazebo" args="-n $(find tabletop_manipulation)/gazebo/simple.world" respawn="false">
- <env name="LD_LIBRARY_PATH" value="$(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" />
- </node>
-
- <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 0.5 0 0 0 0 0" respawn="false" output="screen" />
-
-</launch>
-
Deleted: pkg/trunk/demos/tabletop_manipulation/launch/head_trajectory_controller.xml
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/head_trajectory_controller.xml 2009-06-16 23:37:08 UTC (rev 17181)
+++ pkg/trunk/demos/tabletop_manipulation/launch/head_trajectory_controller.xml 2009-06-16 23:45:28 UTC (rev 17182)
@@ -1,24 +0,0 @@
-<?xml version="1.0"?>
-
-<controllers>
- <controller name="head/trajectory_controller" type="ArmTrajectoryControllerNode">
- <listen_topic name="head/trajectory_controller/trajectory_command" />
- <kinematics>
- <elem key="kdl_chain_name">head</elem>
- </kinematics>
- <map name="controller_param">
- <elem key="kdl_chain_name">head</elem>
- </map>
- <controller name="head_pan_controller" topic="head_pan_controller" type="JointPDController">
- <joint name="head_pan_joint" >
- <pid p="5.0" d="0.5" i="12.0" iClamp="0.5" />
- </joint>
- </controller>
- <controller name="head_tilt_controller" topic="r_shoulder_pitch_controller" type="JointPDController">
- <joint name="head_tilt_joint" >
- <pid p="8.0" d="0.5" i="2.0" iClamp="0.1" />
- </joint>
- </controller>
- <trajectory interpolation="cubic" />
- </controller>
-</controllers>
Deleted: pkg/trunk/demos/tabletop_manipulation/launch/hw.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/hw.launch 2009-06-16 23:37:08 UTC (rev 17181)
+++ pkg/trunk/demos/tabletop_manipulation/launch/hw.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -1,20 +0,0 @@
-<launch>
- <include file="$(find pr2_alpha)/$(env ROBOT).machine" />
-
- <!--include file="$(find tabletop_manipulation)/launch/teleop.launch"/-->
-
- <!-- We're working without a map, relying on IMU-corrected wheel odom -->
- <param name="/global_frame_id" value="odom_combined_offset"/>
- <node pkg="tf" type="transform_sender" args="-20 -20 0 0 0 0 odom_combined_offset odom_combined 10"/>
-
- <!-- Everything depends on ekf.launch, because it defines the
- odom_combined frame -->
- <include file="$(find tabletop_manipulation)/launch/ekf.launch"/>
-
- <include file="$(find tabletop_manipulation)/launch/controllers.launch"/>
- <include file="$(find tabletop_manipulation)/launch/perception.launch"/>
- <!-- Note that nav.launch requires perception.launch, because the latter
- runs the filters on the tilt laser scans -->
- <include file="$(find tabletop_manipulation)/launch/nav.launch"/>
- <!--include file="$(find tabletop_manipulation)/launch/planning.launch"/-->
-</launch>
Deleted: pkg/trunk/demos/tabletop_manipulation/launch/l_gripper_effort_controller.xml
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/l_gripper_effort_controller.xml 2009-06-16 23:37:08 UTC (rev 17181)
+++ pkg/trunk/demos/tabletop_manipulation/launch/l_gripper_effort_controller.xml 2009-06-16 23:45:28 UTC (rev 17182)
@@ -1,8 +0,0 @@
-<?xml version="1.0"?>
-
-<controllers>
- <controller name="left_gripper/effort_controller" type="JointEffortControllerNode">
- <joint name="l_gripper_l_finger_joint" />
- </controller>
-</controllers>
-
Deleted: pkg/trunk/demos/tabletop_manipulation/launch/laser.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/laser.launch 2009-06-16 23:37:08 UTC (rev 17181)
+++ pkg/trunk/demos/tabletop_manipulation/launch/laser.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -1,4 +0,0 @@
-<launch>
- <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/laser_tilt_controller.xml" output="screen"/>
- <node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 2 0.78 0.3" />
-</launch>
Deleted: pkg/trunk/demos/tabletop_manipulation/launch/laser_sim.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/laser_sim.launch 2009-06-16 23:37:08 UTC (rev 17181)
+++ pkg/trunk/demos/tabletop_manipulation/launch/laser_sim.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -1,4 +0,0 @@
-<launch>
- <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/laser_tilt_controller.xml" output="screen"/>
- <node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 4 0.78 0.3" />
-</launch>
Deleted: pkg/trunk/demos/tabletop_manipulation/launch/nav.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/nav.launch 2009-06-16 23:37:08 UTC (rev 17181)
+++ pkg/trunk/demos/tabletop_manipulation/launch/nav.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -1,69 +0,0 @@
-<launch>
- <include file="$(find pr2_alpha)/$(env ROBOT).machine" />
-
- <node pkg="map_server" type="map_server" args="$(find old_2dnav_pr2)/maps/empty_0.05.pgm 0.05" respawn="true"/>
-
-
- <node name="move_base" pkg="highlevel_controllers" type="move_base_navfn" respawn="true" output="screen" machine="three">
- <remap from="tilt_laser_cloud_filtered" to="robotlinks_cloud_filtered"/>
-
- <param name="move_base/environmentList" value="2D,3DKIN"/> <!-- future extension -->
- <param name="move_base/plannerList" value="ADPlanner,ARAPlanner"/> <!-- future extension -->
- <param name="move_base/plannerType" value="ARAPlanner"/>
- <param name="move_base/environmentType" value="2D"/>
- <param name="move_base/controller_frequency" value="30.0"/>
- <param name="move_base/map_update_frequency" value="2.0"/>
- <param name="move_base/planner_frequency" value="0.0"/>
- <param name="move_base/plannerTimeLimit" value="0.5"/>
- <param name="costmap_2d/base_laser_max_range" value="20.0"/>
- <param name="costmap_2d/tilt_laser_max_range" value="3.0"/>
- <param name="costmap_2d/lethal_obstacle_threshold" value="100.0"/>
- <param name="costmap_2d/z_threshold_max" value="2.0"/>
- <param name="costmap_2d/z_threshold_min" value="0.13"/>
- <param name="costmap_2d/no_information_value" value="255"/>
- <param name="costmap_2d/freespace_projection_height" value="2.0"/>
- <param name="costmap_2d/inflation_radius" value="0.65"/>
- <param name="costmap_2d/circumscribed_radius" value="0.46"/>
- <param name="costmap_2d/inscribed_radius" value="0.325"/>
- <param name="costmap_2d/raytrace_window" value="10.0"/>
- <param name="costmap_2d/weight" value="0.1"/>
-
-
- <param name="trajectory_rollout/map_size" value="4.0" />
- <param name="trajectory_rollout/acc_limit_x" value="2.5" />
- <param name="trajectory_rollout/acc_limit_y" value="2.5" />
- <param name="trajectory_rollout/acc_limit_th" value="3.2" />
- <param name="trajectory_rollout/sim_time" value="1.0" />
- <param name="trajectory_rollout/sim_granularity" value="0.05" />
- <param name="trajectory_rollout/vx_samples" value="15" />
- <param name="trajectory_rollout/vtheta_samples" value="15" />
- <param name="trajectory_rollout/path_distance_bias" value="0.6" />
- <param name="trajectory_rollout/goal_distance_bias" value="0.8" />
- <param name="trajectory_rollout/occdist_scale" value="0.2" />
- <param name="trajectory_rollout/heading_lookahead" value="0.325" />
- <param name="trajectory_rollout/oscillation_reset_dist" value="0.05" />
- <param name="trajectory_rollout/holonomic_robot" value="true" />
- <param name="trajectory_rollout/max_vel_x" value="0.5" />
- <param name="trajectory_rollout/min_vel_x" value="0.1" />
- <param name="trajectory_rollout/max_vel_th" value="1.0" />
- <param name="trajectory_rollout/min_vel_th" value="-1.0" />
- <param name="trajectory_rollout/min_in_place_vel_th" value="0.4" />
- <param name="trajectory_rollout/freespace_model" value="true" />
- <param name="trajectory_rollout/dwa" value="false" />
- <param name="trajectory_rollout/simple_attractor" value="false" />
-
- <param name="trajectory_rollout/yaw_goal_tolerance" value=".05" />
- <param name="trajectory_rollout/xy_goal_tolerance" value=".1" />
-
- <!-- Forces a check that we are receiving base scans that are correctly up to date at a rate of at least 2 Hz. This is
- way too slow for the real system, but necessary for rosstage, which does not reliably meet a 5Hz update rate. -->
- <param name="costmap_2d/base_laser_update_rate" value="2.0"/>
-
- <!-- Setting these parameters to 0.0 disables the watchdog on them. For stage this is required since we
- are not getting any data -->
- <param name="costmap_2d/tilt_laser_update_rate" value="2.0"/>
- <param name="costmap_2d/low_obstacle_update_rate" value="0.0"/>
- <param name="costmap_2d/stereo_update_rate" value="0.0"/>
- </node>
-
-</launch>
Deleted: pkg/trunk/demos/tabletop_manipulation/launch/nav_sim.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/nav_sim.launch 2009-06-16 23:37:08 UTC (rev 17181)
+++ pkg/trunk/demos/tabletop_manipulation/launch/nav_sim.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -1,71 +0,0 @@
-<launch>
-
- <node pkg="map_server" type="map_server" args="$(find old_2dnav_pr2)/maps/empty_0.05.pgm 0.05" respawn="true"/>
-
-
- <node name="move_base" pkg="highlevel_controllers" type="move_base_navfn" respawn="true" output="screen">
- <remap from="tilt_laser_cloud_filtered" to="robotlinks_cloud_filtered"/>
-
- <param name="move_base/environmentList" value="2D,3DKIN"/> <!-- future extension -->
- <param name="move_base/plannerList" value="ADPlanner,ARAPlanner"/> <!-- future extension -->
- <param name="move_base/plannerType" value="ARAPlanner"/>
- <param name="move_base/environmentType" value="2D"/>
- <param name="move_base/controller_frequency" value="30.0"/>
- <param name="move_base/map_update_frequency" value="2.0"/>
- <param name="move_base/planner_frequency" value="0.0"/>
- <param name="move_base/plannerTimeLimit" value="0.5"/>
- <param name="move_base/trans_stopped_velocity" value="0.01"/>
- <param name="move_base/rot_stopped_velocity" value="0.01"/>
-
- <param name="costmap_2d/base_laser_max_range" value="20.0"/>
- <param name="costmap_2d/tilt_laser_max_range" value="3.0"/>
- <param name="costmap_2d/lethal_obstacle_threshold" value="100.0"/>
- <param name="costmap_2d/z_threshold_max" value="2.0"/>
- <param name="costmap_2d/z_threshold_min" value="0.13"/>
- <param name="costmap_2d/no_information_value" value="255"/>
- <param name="costmap_2d/freespace_projection_height" value="2.0"/>
- <param name="costmap_2d/inflation_radius" value="0.65"/>
- <param name="costmap_2d/circumscribed_radius" value="0.46"/>
- <param name="costmap_2d/inscribed_radius" value="0.325"/>
- <param name="costmap_2d/raytrace_window" value="10.0"/>
- <param name="costmap_2d/weight" value="0.1"/>
-
-
- <param name="trajectory_rollout/map_size" value="4.0" />
- <param name="trajectory_rollout/acc_limit_x" value="2.5" />
- <param name="trajectory_rollout/acc_limit_y" value="2.5" />
- <param name="trajectory_rollout/acc_limit_th" value="3.2" />
- <param name="trajectory_rollout/sim_time" value="1.0" />
- <param name="trajectory_rollout/sim_granularity" value="0.05" />
- <param name="trajectory_rollout/vx_samples" value="15" />
- <param name="trajectory_rollout/vtheta_samples" value="15" />
- <param name="trajectory_rollout/path_distance_bias" value="0.6" />
- <param name="trajectory_rollout/goal_distance_bias" value="0.8" />
- <param name="trajectory_rollout/occdist_scale" value="0.2" />
- <param name="trajectory_rollout/heading_lookahead" value="0.325" />
- <param name="trajectory_rollout/oscillation_reset_dist" value="0.05" />
- <param name="trajectory_rollout/holonomic_robot" value="true" />
- <param name="trajectory_rollout/max_vel_x" value="0.5" />
- <param name="trajectory_rollout/min_vel_x" value="0.1" />
- <param name="trajectory_rollout/max_vel_th" value="1.0" />
- <param name="trajectory_rollout/min_vel_th" value="-1.0" />
- <param name="trajectory_rollout/min_in_place_vel_th" value="0.4" />
- <param name="trajectory_rollout/freespace_model" value="true" />
- <param name="trajectory_rollout/dwa" value="false" />
- <param name="trajectory_rollout/simple_attractor" value="false" />
-
- <param name="trajectory_rollout/yaw_goal_tolerance" value=".05" />
- <param name="trajectory_rollout/xy_goal_tolerance" value=".1" />
-
- <!-- Forces a check that we are receiving base scans that are correctly up to date at a rate of at least 2 Hz. This is
- way too slow for the real system, but necessary for rosstage, which does not reliably meet a 5Hz update rate. -->
- <param name="costmap_2d/base_laser_update_rate" value="2.0"/>
-
- <!-- Setting these parameters to 0.0 disables the watchdog on them. For stage this is required since we
- are not getting any data -->
- <param name="costmap_2d/tilt_laser_update_rate" value="2.0"/>
- <param name="costmap_2d/low_obstacle_update_rate" value="0.0"/>
- <param name="costmap_2d/stereo_update_rate" value="0.0"/>
- </node>
-
-</launch>
Copied: pkg/trunk/demos/tabletop_manipulation/launch/old/arm.launch (from rev 17180, pkg/trunk/demos/tabletop_manipulation/launch/arm.launch)
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/old/arm.launch (rev 0)
+++ pkg/trunk/demos/tabletop_manipulation/launch/old/arm.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -0,0 +1,37 @@
+<launch>
+<!-- Arm trajectory controller -->
+ <param name="right_arm_trajectory_controller/velocity_scaling_factor" type="double" value="0.1"/>
+ <param name="right_arm_trajectory_controller/trajectory_wait_timeout" type="double" value=".25"/>
+
+ <param name="right_arm_trajectory_controller/r_shoulder_pan_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="right_arm_trajectory_controller/r_shoulder_lift_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="right_arm_trajectory_controller/r_shoulder_roll_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="right_arm_trajectory_controller/r_elbow_flex_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="right_arm_trajectory_controller/r_forearm_roll_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="right_arm_trajectory_controller/r_wrist_flex_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="right_arm_trajectory_controller/r_wrist_roll_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="right_arm_trajectory_controller/r_gripper_l_finger_joint/goal_reached_threshold" type="double" value="0.1"/>
+
+ <param name="left_arm_trajectory_controller/velocity_scaling_factor" type="double" value="1.0"/>
+ <param name="left_arm_trajectory_controller/trajectory_wait_timeout" type="double" value=".25"/>
+
+ <param name="left_arm_trajectory_controller/l_shoulder_pan_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="left_arm_trajectory_controller/l_shoulder_lift_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="left_arm_trajectory_controller/l_shoulder_roll_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="left_arm_trajectory_controller/l_elbow_flex_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="left_arm_trajectory_controller/l_forearm_roll_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="left_arm_trajectory_controller/l_wrist_flex_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="left_arm_trajectory_controller/l_wrist_roll_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="left_arm_trajectory_controller/l_gripper_l_finger_joint/goal_reached_threshold" type="double" value="0.1"/>
+
+
+ <node pkg="mechanism_control" type="spawner.py" args="$(find tabletop_manipulation)/launch/trajectory_controllers.xml" output="screen"/>
+
+ <!-- Gripper effort controller -->
+ <node pkg="mechanism_control" type="spawner.py" args="$(find tabletop_manipulation)/launch/r_gripper_effort_controller.xml" output="screen"/>
+
+ <!-- Torso effort controller -->
+ <node pkg="mechanism_control" type="spawner.py" args="$(find tabletop_manipulation)/launch/torso_effort_controller.xml" output="screen"/>
+
+</launch>
+
Property changes on: pkg/trunk/demos/tabletop_manipulation/launch/old/arm.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/tabletop_manipulation/launch/arm.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/demos/tabletop_manipulation/launch/old/base.launch (from rev 17180, pkg/trunk/demos/tabletop_manipulation/launch/base.launch)
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/old/base.launch (rev 0)
+++ pkg/trunk/demos/tabletop_manipulation/launch/old/base.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -0,0 +1,4 @@
+<launch>
+<param name="base_controller/odom_publish_rate" value="30.0"/>
+<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" output="screen"/>
+</launch>
Property changes on: pkg/trunk/demos/tabletop_manipulation/launch/old/base.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/tabletop_manipulation/launch/base.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/demos/tabletop_manipulation/launch/old/controllers.launch (from rev 17180, pkg/trunk/demos/tabletop_manipulation/launch/controllers.launch)
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/old/controllers.launch (rev 0)
+++ pkg/trunk/demos/tabletop_manipulation/launch/old/controllers.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -0,0 +1,5 @@
+<launch>
+ <include file="$(find tabletop_manipulation)/launch/laser.launch"/>
+ <include file="$(find tabletop_manipulation)/launch/base.launch"/>
+ <!--include file="$(find tabletop_manipulation)/launch/arm.launch"/-->
+</launch>
Property changes on: pkg/trunk/demos/tabletop_manipulation/launch/old/controllers.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/tabletop_manipulation/launch/controllers.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/demos/tabletop_manipulation/launch/old/controllers_sim.launch (from rev 17180, pkg/trunk/demos/tabletop_manipulation/launch/controllers_sim.launch)
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/old/controllers_sim.launch (rev 0)
+++ pkg/trunk/demos/tabletop_manipulation/launch/old/controllers_sim.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -0,0 +1,7 @@
+<launch>
+ <include file="$(find tabletop_manipulation)/launch/laser_sim.launch"/>
+ <include file="$(find tabletop_manipulation)/launch/arm.launch"/>
+ <include file="$(find tabletop_manipulation)/launch/base.launch"/>
+
+ <node pkg="tabletop_manipulation" type="tuckarm.py" args="left"/>
+</launch>
Property changes on: pkg/trunk/demos/tabletop_manipulation/launch/old/controllers_sim.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/tabletop_manipulation/launch/controllers_sim.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/demos/tabletop_manipulation/launch/old/debug_plot.launch (from rev 17180, pkg/trunk/demos/tabletop_manipulation/launch/debug_plot.launch)
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/old/debug_plot.launch (rev 0)
+++ pkg/trunk/demos/tabletop_manipulation/launch/old/debug_plot.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -0,0 +1,5 @@
+<launch>
+ <node pkg="rosviz" type="rxplot" args="-m. -p10 /mechanism_state/joint_states[25]/position:commanded_effort,/mechanism_state/joint_states[28]/position:commanded_effort" output="screen"/>
+ <node pkg="rosviz" type="rxplot" args="-m. -p10 /mechanism_state/joint_states[25]/position,/mechanism_state/joint_states[28]/position" output="screen"/>
+</launch>
+
Property changes on: pkg/trunk/demos/tabletop_manipulation/launch/old/debug_plot.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/tabletop_manipulation/launch/debug_plot.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/demos/tabletop_manipulation/launch/old/ekf.launch (from rev 17180, pkg/trunk/demos/tabletop_manipulation/launch/ekf.launch)
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/old/ekf.launch (rev 0)
+++ pkg/trunk/demos/tabletop_manipulation/launch/old/ekf.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -0,0 +1,12 @@
+<launch>
+ <include file="$(find pr2_alpha)/$(env ROBOT).machine" />
+
+ <param name="robot_pose_ekf/freq" value="30.0"/>
+ <param name="robot_pose_ekf/sensor_timeout" value="1.0"/>
+ <param name="robot_pose_ekf/odom_used" value="true"/>
+ <param name="robot_pose_ekf/imu_used" value="true"/>
+ <param name="robot_pose_ekf/vo_used" value="false"/>
+
+ <node pkg="robot_pose_ekf" type="robot_pose_ekf" args="robot_pose_ekf"
+ machine="four"/>
+</launch>
Property changes on: pkg/trunk/demos/tabletop_manipulation/launch/old/ekf.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/tabletop_manipulation/launch/ekf.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/demos/tabletop_manipulation/launch/old/full_body.launch (from rev 17180, pkg/trunk/demos/tabletop_manipulation/launch/full_body.launch)
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/old/full_body.launch (rev 0)
+++ pkg/trunk/demos/tabletop_manipulation/launch/old/full_body.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -0,0 +1,36 @@
+<launch>
+<!-- Arm trajectory controller -->
+ <param name="arm_trajectory_controller/velocity_scaling_factor" type="double" value="0.25"/>
+ <param name="arm_trajectory_controller/trajectory_wait_timeout" type="double" value="0.25"/>
+
+ <param name="arm_trajectory_controller/r_shoulder_pan_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="arm_trajectory_controller/r_shoulder_lift_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="arm_trajectory_controller/r_upper_arm_roll_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="arm_trajectory_controller/r_elbow_flex_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="arm_trajectory_controller/r_forearm_roll_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="arm_trajectory_controller/r_wrist_flex_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="arm_trajectory_controller/r_wrist_roll_joint/goal_reached_threshold" type="double" value="0.1"/>
+
+ <param name="arm_trajectory_controller/l_shoulder_pan_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="arm_trajectory_controller/l_shoulder_lift_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="arm_trajectory_controller/l_shoulder_roll_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="arm_trajectory_controller/l_elbow_flex_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="arm_trajectory_controller/l_forearm_roll_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="arm_trajectory_controller/l_wrist_flex_joint/goal_reached_threshold" type="double" value="0.1"/>
+ <param name="arm_trajectory_controller/l_wrist_roll_joint/goal_reached_threshold" type="double" value="0.1"/>
+
+ <node pkg="mechanism_control" type="spawner.py" args="$(find tabletop_manipulation)/launch/two_arm_trajectory_controller.xml" output="screen"/>
+
+ <!-- Gripper effort controller -->
+
+ <node pkg="mechanism_control" type="spawner.py" args="$(find tabletop_manipulation)/launch/r_gripper_effort_controller.xml" output="screen"/>
+ <node pkg="mechanism_control" type="spawner.py" args="$(find tabletop_manipulation)/launch/l_gripper_effort_controller.xml" output="screen"/>
+
+ <!-- Torso effort controller -->
+ <node pkg="mechanism_control" type="spawner.py" args="$(find tabletop_manipulation)/launch/torso_effort_controller.xml" output="screen"/>
+
+ <!-- Head trajectory controller -->
+ <node pkg="mechanism_control" type="spawner.py" args="$(find tabletop_manipulation)/launch/head_trajectory_controller.xml" output="screen"/>
+
+</launch>
+
Property changes on: pkg/trunk/demos/tabletop_manipulation/launch/old/full_body.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/tabletop_manipulation/launch/full_body.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/demos/tabletop_manipulation/launch/old/gazebo.launch (from rev 17180, pkg/trunk/demos/tabletop_manipulation/launch/gazebo.launch)
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/old/gazebo.launch (rev 0)
+++ pkg/trunk/demos/tabletop_manipulation/launch/old/gazebo.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -0,0 +1,17 @@
+<launch>
+ <!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/pr2/pr2_defs/robots for full pr2 -->
+ <!-- send pr2.xml to param server -->
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
+
+ <!-- start gazebo -->
+ <node pkg="gazebo" type="gazebo" args="-n $(find tabletop_manipulation)/gazebo/simple.world" respawn="false">
+ <env name="LD_LIBRARY_PATH" value="$(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" />
+ </node>
+
+ <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 0.5 0 0 0 0 0" respawn="false" output="screen" />
+
+</launch>
+
Property changes on: pkg/trunk/demos/tabletop_manipulation/launch/old/gazebo.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/tabletop_manipulation/launch/gazebo.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/demos/tabletop_manipulation/launch/old/head_trajectory_controller.xml (from rev 17180, pkg/trunk/demos/tabletop_manipulation/launch/head_trajectory_controller.xml)
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/old/head_trajectory_controller.xml (rev 0)
+++ pkg/trunk/demos/tabletop_manipulation/launch/old/head_trajectory_controller.xml 2009-06-16 23:45:28 UTC (rev 17182)
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+
+<controllers>
+ <controller name="head/trajectory_controller" type="ArmTrajectoryControllerNode">
+ <listen_topic name="head/trajectory_controller/trajectory_command" />
+ <kinematics>
+ <elem key="kdl_chain_name">head</elem>
+ </kinematics>
+ <map name="controller_param">
+ <elem key="kdl_chain_name">head</elem>
+ </map>
+ <controller name="head_pan_controller" topic="head_pan_controller" type="JointPDController">
+ <joint name="head_pan_joint" >
+ <pid p="5.0" d="0.5" i="12.0" iClamp="0.5" />
+ </joint>
+ </controller>
+ <controller name="head_tilt_controller" topic="r_shoulder_pitch_controller" type="JointPDController">
+ <joint name="head_tilt_joint" >
+ <pid p="8.0" d="0.5" i="2.0" iClamp="0.1" />
+ </joint>
+ </controller>
+ <trajectory interpolation="cubic" />
+ </controller>
+</controllers>
Property changes on: pkg/trunk/demos/tabletop_manipulation/launch/old/head_trajectory_controller.xml
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/tabletop_manipulation/launch/head_trajectory_controller.xml:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/demos/tabletop_manipulation/launch/old/hw.launch (from rev 17180, pkg/trunk/demos/tabletop_manipulation/launch/hw.launch)
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/old/hw.launch (rev 0)
+++ pkg/trunk/demos/tabletop_manipulation/launch/old/hw.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -0,0 +1,20 @@
+<launch>
+ <include file="$(find pr2_alpha)/$(env ROBOT).machine" />
+
+ <!--include file="$(find tabletop_manipulation)/launch/teleop.launch"/-->
+
+ <!-- We're working without a map, relying on IMU-corrected wheel odom -->
+ <param name="/global_frame_id" value="odom_combined_offset"/>
+ <node pkg="tf" type="transform_sender" args="-20 -20 0 0 0 0 odom_combined_offset odom_combined 10"/>
+
+ <!-- Everything depends on ekf.launch, because it defines the
+ odom_combined frame -->
+ <include file="$(find tabletop_manipulation)/launch/ekf.launch"/>
+
+ <include file="$(find tabletop_manipulation)/launch/controllers.launch"/>
+ <include file="$(find tabletop_manipulation)/launch/perception.launch"/>
+ <!-- Note that nav.launch requires perception.launch, because the latter
+ runs the filters on the tilt laser scans -->
+ <include file="$(find tabletop_manipulation)/launch/nav.launch"/>
+ <!--include file="$(find tabletop_manipulation)/launch/planning.launch"/-->
+</launch>
Property changes on: pkg/trunk/demos/tabletop_manipulation/launch/old/hw.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/tabletop_manipulation/launch/hw.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/demos/tabletop_manipulation/launch/old/l_gripper_effort_controller.xml (from rev 17180, pkg/trunk/demos/tabletop_manipulation/launch/l_gripper_effort_controller.xml)
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/old/l_gripper_effort_controller.xml (rev 0)
+++ pkg/trunk/demos/tabletop_manipulation/launch/old/l_gripper_effort_controller.xml 2009-06-16 23:45:28 UTC (rev 17182)
@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+
+<controllers>
+ <controller name="left_gripper/effort_controller" type="JointEffortControllerNode">
+ <joint name="l_gripper_l_finger_joint" />
+ </controller>
+</controllers>
+
Property changes on: pkg/trunk/demos/tabletop_manipulation/launch/old/l_gripper_effort_controller.xml
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/tabletop_manipulation/launch/l_gripper_effort_controller.xml:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/demos/tabletop_manipulation/launch/old/laser.launch (from rev 17180, pkg/trunk/demos/tabletop_manipulation/launch/laser.launch)
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/old/laser.launch (rev 0)
+++ pkg/trunk/demos/tabletop_manipulation/launch/old/laser.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -0,0 +1,4 @@
+<launch>
+ <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/laser_tilt_controller.xml" output="screen"/>
+ <node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 2 0.78 0.3" />
+</launch>
Property changes on: pkg/trunk/demos/tabletop_manipulation/launch/old/laser.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/tabletop_manipulation/launch/laser.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/demos/tabletop_manipulation/launch/old/laser_sim.launch (from rev 17180, pkg/trunk/demos/tabletop_manipulation/launch/laser_sim.launch)
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/old/laser_sim.launch (rev 0)
+++ pkg/trunk/demos/tabletop_manipulation/launch/old/laser_sim.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -0,0 +1,4 @@
+<launch>
+ <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/laser_tilt_controller.xml" output="screen"/>
+ <node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 4 0.78 0.3" />
+</launch>
Property changes on: pkg/trunk/demos/tabletop_manipulation/launch/old/laser_sim.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/tabletop_manipulation/launch/laser_sim.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/demos/tabletop_manipulation/launch/old/nav.launch (from rev 17180, pkg/trunk/demos/tabletop_manipulation/launch/nav.launch)
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/old/nav.launch (rev 0)
+++ pkg/trunk/demos/tabletop_manipulation/launch/old/nav.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -0,0 +1,69 @@
+<launch>
+ <include file="$(find pr2_alpha)/$(env ROBOT).machine" />
+
+ <node pkg="map_server" type="map_server" args="$(find old_2dnav_pr2)/maps/empty_0.05.pgm 0.05" respawn="true"/>
+
+
+ <node name="move_base" pkg="highlevel_controllers" type="move_base_navfn" respawn="true" output="screen" machine="three">
+ <remap from="tilt_laser_cloud_filtered" to="robotlinks_cloud_filtered"/>
+
+ <param name="move_base/environmentList" value="2D,3DKIN"/> <!-- future extension -->
+ <param name="move_base/plannerList" value="ADPlanner,ARAPlanner"/> <!-- future extension -->
+ <param name="move_base/plannerType" value="ARAPlanner"/>
+ <param name="move_base/environmentType" value="2D"/>
+ <param name="move_base/controller_frequency" value="30.0"/>
+ <param name="move_base/map_update_frequency" value="2.0"/>
+ <param name="move_base/planner_frequency" value="0.0"/>
+ <param name="move_base/plannerTimeLimit" value="0.5"/>
+ <param name="costmap_2d/base_laser_max_range" value="20.0"/>
+ <param name="costmap_2d/tilt_laser_max_range" value="3.0"/>
+ <param name="costmap_2d/lethal_obstacle_threshold" value="100.0"/>
+ <param name="costmap_2d/z_threshold_max" value="2.0"/>
+ <param name="costmap_2d/z_threshold_min" value="0.13"/>
+ <param name="costmap_2d/no_information_value" value="255"/>
+ <param name="costmap_2d/freespace_projection_height" value="2.0"/>
+ <param name="costmap_2d/inflation_radius" value="0.65"/>
+ <param name="costmap_2d/circumscribed_radius" value="0.46"/>
+ <param name="costmap_2d/inscribed_radius" value="0.325"/>
+ <param name="costmap_2d/raytrace_window" value="10.0"/>
+ <param name="costmap_2d/weight" value="0.1"/>
+
+
+ <param name="trajectory_rollout/map_size" value="4.0" />
+ <param name="trajectory_rollout/acc_limit_x" value="2.5" />
+ <param name="trajectory_rollout/acc_limit_y" value="2.5" />
+ <param name="trajectory_rollout/acc_limit_th" value="3.2" />
+ <param name="trajectory_rollout/sim_time" value="1.0" />
+ <param name="trajectory_rollout/sim_granularity" value="0.05" />
+ <param name="trajectory_rollout/vx_samples" value="15" />
+ <param name="trajectory_rollout/vtheta_samples" value="15" />
+ <param name="trajectory_rollout/path_distance_bias" value="0.6" />
+ <param name="trajectory_rollout/goal_distance_bias" value="0.8" />
+ <param name="trajectory_rollout/occdist_scale" value="0.2" />
+ <param name="trajectory_rollout/heading_lookahead" value="0.325" />
+ <param name="trajectory_rollout/oscillation_reset_dist" value="0.05" />
+ <param name="trajectory_rollout/holonomic_robot" value="true" />
+ <param name="trajectory_rollout/max_vel_x" value="0.5" />
+ <param name="trajectory_rollout/min_vel_x" value="0.1" />
+ <param name="trajectory_rollout/max_vel_th" value="1.0" />
+ <param name="trajectory_rollout/min_vel_th" value="-1.0" />
+ <param name="trajectory_rollout/min_in_place_vel_th" value="0.4" />
+ <param name="trajectory_rollout/freespace_model" value="true" />
+ <param name="trajectory_rollout/dwa" value="false" />
+ <param name="trajectory_rollout/simple_attractor" value="false" />
+
+ <param name="trajectory_rollout/yaw_goal_tolerance" value=".05" />
+ <param name="trajectory_rollout/xy_goal_tolerance" value=".1" />
+
+ <!-- Forces a check that we are receiving base scans that are correctly up to date at a rate of at least 2 Hz. This is
+ way too slow for the real system, but necessary for rosstage, which does not reliably meet a 5Hz update rate. -->
+ <param name="costmap_2d/base_laser_update_rate" value="2.0"/>
+
+ <!-- Setting these parameters to 0.0 disables the watchdog on them. For stage this is required since we
+ are not getting any data -->
+ <param name="costmap_2d/tilt_laser_update_rate" value="2.0"/>
+ <param name="costmap_2d/low_obstacle_update_rate" value="0.0"/>
+ <param name="costmap_2d/stereo_update_rate" value="0.0"/>
+ </node>
+
+</launch>
Property changes on: pkg/trunk/demos/tabletop_manipulation/launch/old/nav.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/tabletop_manipulation/launch/nav.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/demos/tabletop_manipulation/launch/old/nav_sim.launch (from rev 17180, pkg/trunk/demos/tabletop_manipulation/launch/nav_sim.launch)
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/old/nav_sim.launch (rev 0)
+++ pkg/trunk/demos/tabletop_manipulation/launch/old/nav_sim.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -0,0 +1,71 @@
+<launch>
+
+ <node pkg="map_server" type="map_server" args="$(find old_2dnav_pr2)/maps/empty_0.05.pgm 0.05" respawn="true"/>
+
+
+ <node name="move_base" pkg="highlevel_controllers" type="move_base_navfn" respawn="true" output="screen">
+ <remap from="tilt_laser_cloud_filtered" to="robotlinks_cloud_filtered"/>
+
+ <param name="move_base/environmentList" value="2D,3DKIN"/> <!-- future extension -->
+ <param name="move_base/plannerList" value="ADPlanner,ARAPlanner"/> <!-- future extension -->
+ <param name="move_base/plannerType" value="ARAPlanner"/>
+ <param name="move_base/environmentType" value="2D"/>
+ <param name="move_base/controller_frequency" value="30.0"/>
+ <param name="move_base/map_update_frequency" value="2.0"/>
+ <param name="move_base/planner_frequency" value="0.0"/>
+ <param name="move_base/plannerTimeLimit" value="0.5"/>
+ <param name="move_base/trans_stopped_velocity" value="0.01"/>
+ <param name="move_base/rot_stopped_velocity" value="0.01"/>
+
+ <param name="costmap_2d/base_laser_max_range" value="20.0"/>
+ <param name="costmap_2d/tilt_laser_max_range" value="3.0"/>
+ <param name="costmap_2d/lethal_obstacle_threshold" value="100.0"/>
+ <param name="costmap_2d/z_threshold_max" value="2.0"/>
+ <param name="costmap_2d/z_threshold_min" value="0.13"/>
+ <param name="costmap_2d/no_information_value" value="255"/>
+ <param name="costmap_2d/freespace_projection_height" value="2.0"/>
+ <param name="costmap_2d/inflation_radius" value="0.65"/>
+ <param name="costmap_2d/circumscribed_radius" value="0.46"/>
+ <param name="costmap_2d/inscribed_radius" value="0.325"/>
+ <param name="costmap_2d/raytrace_window" value="10.0"/>
+ <param name="costmap_2d/weight" value="0.1"/>
+
+
+ <param name="trajectory_rollout/map_size" value="4.0" />
+ <param name="trajectory_rollout/acc_limit_x" value="2.5" />
+ <param name="trajectory_rollout/acc_limit_y" value="2.5" />
+ <param name="trajectory_rollout/acc_limit_th" value="3.2" />
+ <param name="trajectory_rollout/sim_time" value="1.0" />
+ <param name="trajectory_rollout/sim_granularity" value="0.05" />
+ <param name="trajectory_rollout/vx_samples" value="15" />
+ <param name="trajectory_rollout/vtheta_samples" value="15" />
+ <param name="trajectory_rollout/path_distance_bias" value="0.6" />
+ <param name="trajectory_rollout/goal_distance_bias" value="0.8" />
+ <param name="trajectory_rollout/occdist_scale" value="0.2" />
+ <param name="trajectory_rollout/heading_lookahead" value="0.325" />
+ <param name="trajectory_rollout/oscillation_reset_dist" value="0.05" />
+ <param name="trajectory_rollout/holonomic_robot" value="true" />
+ <param name="trajectory_rollout/max_vel_x" value="0.5" />
+ <param name="trajectory_rollout/min_vel_x" value="0.1" />
+ <param name="trajectory_rollout/max_vel_th" value="1.0" />
+ <param name="trajectory_rollout/min_vel_th" value="-1.0" />
+ <param name="trajectory_rollout/min_in_place_vel_th" value="0.4" />
+ <param name="trajectory_rollout/freespace_model" value="true" />
+ <param name="trajectory_rollout/dwa" value="false" />
+ <param name="trajectory_rollout/simple_attractor" value="false" />
+
+ <param name="trajectory_rollout/yaw_goal_tolerance" value=".05" />
+ <param name="trajectory_rollout/xy_goal_tolerance" value=".1" />
+
+ <!-- Forces a check that we are receiving base scans that are correctly up to date at a rate of at least 2 Hz. This is
+ way too slow for the real system, but necessary for rosstage, which does not reliably meet a 5Hz update rate. -->
+ <param name="costmap_2d/base_laser_update_rate" value="2.0"/>
+
+ <!-- Setting these parameters to 0.0 disables the watchdog on them. For stage this is required since we
+ are not getting any data -->
+ <param name="costmap_2d/tilt_laser_update_rate" value="2.0"/>
+ <param name="costmap_2d/low_obstacle_update_rate" value="0.0"/>
+ <param name="costmap_2d/stereo_update_rate" value="0.0"/>
+ </node>
+
+</launch>
Property changes on: pkg/trunk/demos/tabletop_manipulation/launch/old/nav_sim.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/tabletop_manipulation/launch/nav_sim.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/demos/tabletop_manipulation/launch/old/perception.launch (from rev 17180, pkg/trunk/demos/tabletop_manipulation/launch/perception.launch)
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/old/perception.launch (rev 0)
+++ pkg/trunk/demos/tabletop_manipulation/launch/old/perception.launch 2009-06-16 23:45:28 UTC (rev 17182)
@@ -0,0 +1,38 @@
+<launch>
+ <node pkg="laser_scan" type="scan_shadows_filter_node" output="screen" name="shadows_filter">
+ <param name="high_fidelit...
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