[Personalrobots-commit] SF.net SVN: personalrobots:[17775] pkg/trunk/stacks/pr2/pr2_alpha

[<wa...@us...>]

Revision: 17775
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=17775&view=rev
Author:   wattsk
Date:     2009-06-26 20:33:35 +0000 (Fri, 26 Jun 2009)

Log Message:
-----------
Adding teleop keyboard launch file and dependency on teleop_pr2

Modified Paths:
--------------
    pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml

Added Paths:
-----------
    pkg/trunk/stacks/pr2/pr2_alpha/teleop_keyboard.launch

Modified: pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml	2009-06-26 20:33:27 UTC (rev 17774)
+++ pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml	2009-06-26 20:33:35 UTC (rev 17775)
@@ -27,6 +27,7 @@
   <depend package="forearm_cam" />
   <depend package="robot_state_publisher" />
   <depend package="prosilica_cam" />
+  <depend package="teleop_pr2" />
   <depend package="mechanism_bringup" />
   <!-- For testing -->
   <depend package="std_msgs"/>

Added: pkg/trunk/stacks/pr2/pr2_alpha/teleop_keyboard.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_keyboard.launch	                        (rev 0)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_keyboard.launch	2009-06-26 20:33:35 UTC (rev 17775)
@@ -0,0 +1,26 @@
+<launch>
+
+<param name="base_controller/odom_publish_rate" value="30.0"/>
+<param name="base_controller/autostart" value="true"/>
+<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" output="screen"/>
+
+<!-- The robot pose EKF is launched with the base controller-->
+<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"/>
+
+<param name="walk_vel" value="0.5" />
+<param name="run_vel" value="1.0" />
+<param name="yaw_rate" value="1.0" />
+<param name="yaw_run_rate" value="1.5" />
+
+
+<node pkg="teleop_pr2" type="teleop_pr2_keyboard" output="screen"/>
+
+
+
+</launch>
+


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