[Personalrobots-commit] SF.net SVN: personalrobots:[17268] pkg/trunk

[<is...@us...>]

Revision: 17268
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=17268&view=rev
Author:   isucan
Date:     2009-06-18 00:55:11 +0000 (Thu, 18 Jun 2009)

Log Message:
-----------
added stereo perception launch file

Added Paths:
-----------
    pkg/trunk/demos/tabletop_manipulation/launch/laser-perception.launch
    pkg/trunk/demos/tabletop_manipulation/launch/stereo-perception.launch

Removed Paths:
-------------
    pkg/trunk/demos/tabletop_manipulation/launch/perception.launch
    pkg/trunk/drivers/robot/pr2/point_cloud_assembler/point_cloud_assembler.launch

Added: pkg/trunk/demos/tabletop_manipulation/launch/laser-perception.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/laser-perception.launch	                        (rev 0)
+++ pkg/trunk/demos/tabletop_manipulation/launch/laser-perception.launch	2009-06-18 00:55:11 UTC (rev 17268)
@@ -0,0 +1,27 @@
+<launch>
+  
+  <include file="$(find pr2_defs)/pr2_planning_environment.launch" />
+  
+  <node pkg="point_cloud_assembler" type="laser_scan_assembler_srv" output="screen"  name="laser_scan_assembler">
+    <remap from="scan_in" to="tilt_scan"/>
+    <param name="tf_cache_time_secs" type="double" value="10.0" />
+    <param name="tf_tolerance_secs" type="double" value="0.0" />
+    <param name="max_scans" type="int" value="400" />
+    <param name="ignore_laser_skew" type="bool" value="true" />
+    <param name="fixed_frame" type="string" value="torso_lift_link" />
+    <param name="downsample_factor" type="int" value="2" />
+  </node>
+  
+  <node pkg="point_cloud_assembler" type="point_cloud_snapshotter" output="screen" name="snapshotter">
+    <remap from="laser_scanner_signal" to="laser_tilt_controller/laser_scanner_signal"/>
+    <remap from="build_cloud" to="laser_scan_assembler/build_cloud" />
+    <remap from="full_cloud" to="snapshot_cloud" />
+  </node>
+  
+  <include file="$(find pr2_laser_tilt)/laser_tilt_controller.launch" />
+
+  <node pkg="new_robot_self_filter" type="self_filter" args="robot_description:=robotdesc/pr2 full_cloud:=snapshot_cloud" respawn="true" output="screen" />
+  
+  <include file="$(find collision_map)/collision_map.launch" />
+
+</launch>

Deleted: pkg/trunk/demos/tabletop_manipulation/launch/perception.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/perception.launch	2009-06-18 00:55:06 UTC (rev 17267)
+++ pkg/trunk/demos/tabletop_manipulation/launch/perception.launch	2009-06-18 00:55:11 UTC (rev 17268)
@@ -1,7 +0,0 @@
-<launch>
-   <include file="$(find pr2_defs)/pr2_planning_environment.launch" />
-   <include file="$(find pr2_laser_tilt)/laser_tilt_controller.launch" />
-   <include file="$(find point_cloud_assembler)/point_cloud_assembler.launch" />
-   <include file="$(find new_robot_self_filter)/self_filter.launch" />
-   <include file="$(find collision_map)/collision_map.launch" />
-</launch>

Added: pkg/trunk/demos/tabletop_manipulation/launch/stereo-perception.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/launch/stereo-perception.launch	                        (rev 0)
+++ pkg/trunk/demos/tabletop_manipulation/launch/stereo-perception.launch	2009-06-18 00:55:11 UTC (rev 17268)
@@ -0,0 +1,10 @@
+<launch>
+  
+  <include file="$(find pr2_defs)/pr2_planning_environment.launch" />
+  <include file="$(find stereo_image_proc)/stereo.launch" />
+  
+  <node pkg="new_robot_self_filter" type="self_filter" args="robot_description:=robotdesc/pr2 full_cloud:=stereo/cloud" respawn="true" output="screen" />
+  
+  <include file="$(find collision_map)/collision_map.launch" />
+  
+</launch>

Deleted: pkg/trunk/drivers/robot/pr2/point_cloud_assembler/point_cloud_assembler.launch
===================================================================
--- pkg/trunk/drivers/robot/pr2/point_cloud_assembler/point_cloud_assembler.launch	2009-06-18 00:55:06 UTC (rev 17267)
+++ pkg/trunk/drivers/robot/pr2/point_cloud_assembler/point_cloud_assembler.launch	2009-06-18 00:55:11 UTC (rev 17268)
@@ -1,19 +0,0 @@
-<launch>
-
-  <node pkg="point_cloud_assembler" type="laser_scan_assembler_srv" output="screen"  name="laser_scan_assembler">
-    <remap from="scan_in" to="tilt_scan"/>
-    <param name="tf_cache_time_secs" type="double" value="10.0" />
-    <param name="tf_tolerance_secs" type="double" value="0.0" />
-    <param name="max_scans" type="int" value="400" />
-    <param name="ignore_laser_skew" type="bool" value="true" />
-    <param name="fixed_frame" type="string" value="torso_lift_link" />
-    <param name="downsample_factor" type="int" value="2" />
-  </node>
-
-  <node pkg="point_cloud_assembler" type="point_cloud_snapshotter" output="screen" name="snapshotter">
-    <remap from="laser_scanner_signal" to="laser_tilt_controller/laser_scanner_signal"/>
-    <remap from="build_cloud" to="laser_scan_assembler/build_cloud" />
-    <remap from="full_cloud" to="snapshot_cloud" />
-  </node>
-
-</launch>


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