[Personalrobots-commit] SF.net SVN: personalrobots:[17831] pkg/trunk

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

Revision: 17831
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=17831&view=rev
Author:   isucan
Date:     2009-06-27 23:49:00 +0000 (Sat, 27 Jun 2009)

Log Message:
-----------
parameter updates for launch files

Modified Paths:
--------------
    pkg/trunk/highlevel/move_arm/move_larm.launch
    pkg/trunk/highlevel/move_arm/move_rarm.launch
    pkg/trunk/motion_planning/ompl_planning/motion_planning.launch
    pkg/trunk/motion_planning/planning_environment/src/planning_monitor.cpp

Modified: pkg/trunk/highlevel/move_arm/move_larm.launch
===================================================================
--- pkg/trunk/highlevel/move_arm/move_larm.launch	2009-06-27 23:26:53 UTC (rev 17830)
+++ pkg/trunk/highlevel/move_arm/move_larm.launch	2009-06-27 23:49:00 UTC (rev 17831)
@@ -15,5 +15,8 @@
     <remap from="motion_plan" to="plan_kinematic_path" />
     
     <param name="arm" type="string" value="left_arm" />
+    <param name="refresh_interval_collision_map" type="double" value="5.0" />
+    <param name="refresh_interval_kinematic_state" type="double" value="1.0" />
+
   </node>
 </launch>

Modified: pkg/trunk/highlevel/move_arm/move_rarm.launch
===================================================================
--- pkg/trunk/highlevel/move_arm/move_rarm.launch	2009-06-27 23:26:53 UTC (rev 17830)
+++ pkg/trunk/highlevel/move_arm/move_rarm.launch	2009-06-27 23:49:00 UTC (rev 17831)
@@ -15,5 +15,8 @@
     <remap from="motion_plan" to="plan_kinematic_path" />
     
     <param name="arm" type="string" value="right_arm" />
+    <param name="refresh_interval_collision_map" type="double" value="5.0" />
+    <param name="refresh_interval_kinematic_state" type="double" value="1.0" />
+
   </node>
 </launch>

Modified: pkg/trunk/motion_planning/ompl_planning/motion_planning.launch
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/motion_planning.launch	2009-06-27 23:26:53 UTC (rev 17830)
+++ pkg/trunk/motion_planning/ompl_planning/motion_planning.launch	2009-06-27 23:49:00 UTC (rev 17831)
@@ -4,8 +4,8 @@
     <remap from="robot_description" to="robotdesc/pr2" />
     <remap from="collision_map" to="collision_map_occ" />
     <remap from="collision_map_update" to="collision_map_occ_update" />
-    <param name="refresh_interval_collision_map" type="double" value="0.0" />
-    <param name="refresh_interval_kinematic_state" type="double" value="0.0" />
+    <param name="refresh_interval_collision_map" type="double" value="5.0" />
+    <param name="refresh_interval_kinematic_state" type="double" value="1.0" />
     <param name="verbose_collisions" type="bool" value="false" />
   </node>
 </launch>

Modified: pkg/trunk/motion_planning/planning_environment/src/planning_monitor.cpp
===================================================================
--- pkg/trunk/motion_planning/planning_environment/src/planning_monitor.cpp	2009-06-27 23:26:53 UTC (rev 17830)
+++ pkg/trunk/motion_planning/planning_environment/src/planning_monitor.cpp	2009-06-27 23:49:00 UTC (rev 17831)
@@ -291,7 +291,10 @@
     
     getEnvironmentModel()->lock();
     getKinematicModel()->lock();
-    
+
+    bool vlevel = getEnvironmentModel()->getVerbose();
+    getEnvironmentModel()->setVerbose(verbose);
+       
     // figure out the poses of the robot model
     getKinematicModel()->computeTransforms(sp->getParams());
     // update the collision space
@@ -362,6 +365,7 @@
 	    ROS_INFO("isPathValid: Goal state does not satisfy constraints");
     }
     
+    getEnvironmentModel()->setVerbose(vlevel);
     getKinematicModel()->unlock();
     getEnvironmentModel()->unlock();
     


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