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[Personalrobots-commit] SF.net SVN: personalrobots:[17881] pkg/trunk
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From: <hsu...@us...> - 2009-06-29 20:52:37
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Revision: 17881
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=17881&view=rev
Author: hsujohnhsu
Date: 2009-06-29 20:51:09 +0000 (Mon, 29 Jun 2009)
Log Message:
-----------
update to latest gazebo trunk - factory is now a default iface.
Modified Paths:
--------------
pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2factory.cpp
pkg/trunk/drivers/simulator/gazebo_plugin/src/xml2factory.cpp
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/balcony.world
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/empty.world
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/empty_10000hz.world
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/empty_100hz.world
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/floorobj.world
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/obstacle.world
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple.world
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple_erratic.world
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple_office.world
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/tablegrasp.world
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/tables.world
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_camera.world
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_scan.world
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_slide.world
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/teststereo.world
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/wg.world
pkg/trunk/stacks/simulators/gazebo/Makefile
pkg/trunk/stacks/simulators/gazebo/gazebo_new_patch.diff
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2factory.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2factory.cpp 2009-06-29 20:51:03 UTC (rev 17880)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2factory.cpp 2009-06-29 20:51:09 UTC (rev 17881)
@@ -123,7 +123,7 @@
/// Open the Factory interface
try
{
- factoryIface->Open(client, "factory_model::factory_iface");
+ factoryIface->Open(client, "default");
}
catch (gazebo::GazeboError e)
{
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/xml2factory.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/xml2factory.cpp 2009-06-29 20:51:03 UTC (rev 17880)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/xml2factory.cpp 2009-06-29 20:51:09 UTC (rev 17881)
@@ -117,7 +117,7 @@
/// Open the Factory interface
try
{
- factoryIface->Open(client, "factory_model::factory_iface");
+ factoryIface->Open(client, "default");
}
catch (gazebo::GazeboError e)
{
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/balcony.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/balcony.world 2009-06-29 20:51:03 UTC (rev 17880)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/balcony.world 2009-06-29 20:51:09 UTC (rev 17881)
@@ -342,19 +342,6 @@
</model:physical>
-->
-
-
-
-
- <model:empty name="factory_model">
- <model_thread>false</model_thread>
- <controller:factory name="factory_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <interface:factory name="factory_iface"/>
- </controller:factory>
- </model:empty>
-
<!-- White Directional light -->
<model:renderable name="directional_white">
<light>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/empty.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/empty.world 2009-06-29 20:51:03 UTC (rev 17880)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/empty.world 2009-06-29 20:51:09 UTC (rev 17881)
@@ -84,15 +84,6 @@
</body:plane>
</model:physical>
- <model:empty name="factory_model">
- <model_thread>false</model_thread>
- <controller:factory name="factory_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <interface:factory name="factory_iface"/>
- </controller:factory>
- </model:empty>
-
<!--
<model:physical name="walls">
<include embedded="false">
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/empty_10000hz.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/empty_10000hz.world 2009-06-29 20:51:03 UTC (rev 17880)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/empty_10000hz.world 2009-06-29 20:51:09 UTC (rev 17881)
@@ -78,15 +78,6 @@
</body:plane>
</model:physical>
- <model:empty name="factory_model">
- <model_thread>false</model_thread>
- <controller:factory name="factory_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <interface:factory name="factory_iface"/>
- </controller:factory>
- </model:empty>
-
<!--
<model:physical name="walls">
<include embedded="false">
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/empty_100hz.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/empty_100hz.world 2009-06-29 20:51:03 UTC (rev 17880)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/empty_100hz.world 2009-06-29 20:51:09 UTC (rev 17881)
@@ -91,15 +91,6 @@
</body:plane>
</model:physical>
- <model:empty name="factory_model">
- <model_thread>false</model_thread>
- <controller:factory name="factory_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <interface:factory name="factory_iface"/>
- </controller:factory>
- </model:empty>
-
<!-- White Directional light -->
<!--
<model:renderable name="directional_white">
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/floorobj.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/floorobj.world 2009-06-29 20:51:03 UTC (rev 17880)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/floorobj.world 2009-06-29 20:51:09 UTC (rev 17881)
@@ -299,17 +299,6 @@
</body:box>
</model:physical>
- <model:empty name="factory_model">
- <model_thread>false</model_thread>
- <controller:factory name="factory_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <interface:factory name="factory_iface"/>
- </controller:factory>
- </model:empty>
-
-
-
<!-- White Directional light -->
<!--
<model:renderable name="directional_white">
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/obstacle.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/obstacle.world 2009-06-29 20:51:03 UTC (rev 17880)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/obstacle.world 2009-06-29 20:51:09 UTC (rev 17881)
@@ -324,18 +324,6 @@
</body:box>
</model:physical>
- <model:empty name="factory_model">
- <model_thread>false</model_thread>
- <controller:factory name="factory_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <interface:factory name="factory_iface"/>
- </controller:factory>
- </model:empty>
-
-
-
-
<!-- White Directional light -->
<!--
<model:renderable name="directional_white">
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple.world 2009-06-29 20:51:03 UTC (rev 17880)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple.world 2009-06-29 20:51:09 UTC (rev 17881)
@@ -242,15 +242,6 @@
</body:box>
</model:physical>
- <model:empty name="factory_model">
- <model_thread>false</model_thread>
- <controller:factory name="factory_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <interface:factory name="factory_iface"/>
- </controller:factory>
- </model:empty>
-
<!-- White Directional light -->
<model:renderable name="point_white">
<xyz>0.0 0.0 3</xyz>
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 2009-06-29 20:51:03 UTC (rev 17880)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple_erratic.world 2009-06-29 20:51:09 UTC (rev 17881)
@@ -241,15 +241,6 @@
</body:box>
</model:physical>
- <model:empty name="factory_model">
- <model_thread>false</model_thread>
- <controller:factory name="factory_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <interface:factory name="factory_iface"/>
- </controller:factory>
- </model:empty>
-
<!-- White Directional light -->
<model:renderable name="directional_white">
<light>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple_office.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple_office.world 2009-06-29 20:51:03 UTC (rev 17880)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple_office.world 2009-06-29 20:51:09 UTC (rev 17881)
@@ -185,19 +185,6 @@
</body:box>
</model:physical>
-
-
-
-
- <model:empty name="factory_model">
- <model_thread>false</model_thread>
- <controller:factory name="factory_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <interface:factory name="factory_iface"/>
- </controller:factory>
- </model:empty>
-
<!-- White Directional light -->
<model:renderable name="directional_white">
<light>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/tablegrasp.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/tablegrasp.world 2009-06-29 20:51:03 UTC (rev 17880)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/tablegrasp.world 2009-06-29 20:51:09 UTC (rev 17881)
@@ -286,15 +286,6 @@
</body:box>
</model:physical>
- <model:empty name="factory_model">
- <model_thread>false</model_thread>
- <controller:factory name="factory_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <interface:factory name="factory_iface"/>
- </controller:factory>
- </model:empty>
-
<!-- White Directional light -->
<!--
<model:renderable name="directional_white">
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/tables.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/tables.world 2009-06-29 20:51:03 UTC (rev 17880)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/tables.world 2009-06-29 20:51:09 UTC (rev 17881)
@@ -129,15 +129,6 @@
</include>
</model:physical>
- <model:empty name="factory_model">
- <model_thread>false</model_thread>
- <controller:factory name="factory_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <interface:factory name="factory_iface"/>
- </controller:factory>
- </model:empty>
-
<!-- White Directional light -->
<!--
<model:renderable name="directional_white">
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_camera.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_camera.world 2009-06-29 20:51:03 UTC (rev 17880)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_camera.world 2009-06-29 20:51:09 UTC (rev 17881)
@@ -192,13 +192,4 @@
</light>
</model:renderable>
- <model:empty name="factory_model">
- <model_thread>false</model_thread>
- <controller:factory name="factory_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <interface:factory name="factory_iface"/>
- </controller:factory>
- </model:empty>
-
</gazebo:world>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_scan.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_scan.world 2009-06-29 20:51:03 UTC (rev 17880)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_scan.world 2009-06-29 20:51:09 UTC (rev 17881)
@@ -190,13 +190,4 @@
</light>
</model:renderable>
- <model:empty name="factory_model">
- <model_thread>false</model_thread>
- <controller:factory name="factory_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <interface:factory name="factory_iface"/>
- </controller:factory>
- </model:empty>
-
</gazebo:world>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_slide.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_slide.world 2009-06-29 20:51:03 UTC (rev 17880)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_slide.world 2009-06-29 20:51:09 UTC (rev 17881)
@@ -269,12 +269,4 @@
</model:renderable>
-->
- <model:empty name="factory_model">
- <controller:factory name="factory_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <interface:factory name="factory_iface"/>
- </controller:factory>
- </model:empty>
-
</gazebo:world>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/teststereo.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/teststereo.world 2009-06-29 20:51:03 UTC (rev 17880)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/teststereo.world 2009-06-29 20:51:09 UTC (rev 17881)
@@ -185,13 +185,4 @@
</light>
</model:renderable>
- <model:empty name="factory_model">
- <model_thread>false</model_thread>
- <controller:factory name="factory_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <interface:factory name="factory_iface"/>
- </controller:factory>
- </model:empty>
-
</gazebo:world>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/wg.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/wg.world 2009-06-29 20:51:03 UTC (rev 17880)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/wg.world 2009-06-29 20:51:09 UTC (rev 17881)
@@ -133,15 +133,6 @@
</include>
</model:physical>
- <model:empty name="factory_model">
- <model_thread>false</model_thread>
- <controller:factory name="factory_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <interface:factory name="factory_iface"/>
- </controller:factory>
- </model:empty>
-
<!-- White Directional light -->
<model:renderable name="point_white">
<xyz>0.0 0.0 50</xyz>
Modified: pkg/trunk/stacks/simulators/gazebo/Makefile
===================================================================
--- pkg/trunk/stacks/simulators/gazebo/Makefile 2009-06-29 20:51:03 UTC (rev 17880)
+++ pkg/trunk/stacks/simulators/gazebo/Makefile 2009-06-29 20:51:09 UTC (rev 17881)
@@ -5,7 +5,7 @@
SVN_DIR = gazebo-svn
SVN_URL = https://playerstage.svn.sourceforge.net/svnroot/playerstage/code/gazebo/trunk
-SVN_REVISION = -r 7891
+SVN_REVISION = -r 7929
SVN_PATCH = gazebo_new_patch.diff
include $(shell rospack find mk)/svn_checkout.mk
Modified: pkg/trunk/stacks/simulators/gazebo/gazebo_new_patch.diff
===================================================================
--- pkg/trunk/stacks/simulators/gazebo/gazebo_new_patch.diff 2009-06-29 20:51:03 UTC (rev 17880)
+++ pkg/trunk/stacks/simulators/gazebo/gazebo_new_patch.diff 2009-06-29 20:51:09 UTC (rev 17881)
@@ -1,8 +1,8 @@
Index: server/physics/Body.hh
===================================================================
---- server/physics/Body.hh (revision 7891)
+--- server/physics/Body.hh (revision 7929)
+++ server/physics/Body.hh (working copy)
-@@ -259,6 +259,8 @@
+@@ -268,6 +268,8 @@
protected: ParamT<double> *iyzP;
protected: bool customMassMatrix;
protected: double cx,cy,cz,bodyMass,ixx,iyy,izz,ixy,ixz,iyz;
@@ -13,9 +13,9 @@
/// \}
Index: server/physics/Geom.cc
===================================================================
---- server/physics/Geom.cc (revision 7891)
+--- server/physics/Geom.cc (revision 7929)
+++ server/physics/Geom.cc (working copy)
-@@ -250,7 +250,7 @@
+@@ -249,7 +249,7 @@
if (this->placeable && !this->IsStatic())
{
@@ -26,7 +26,7 @@
dGeomTransformSetGeom( this->transId, this->geomId );
Index: server/physics/Body.cc
===================================================================
---- server/physics/Body.cc (revision 7891)
+--- server/physics/Body.cc (revision 7929)
+++ server/physics/Body.cc (working copy)
@@ -242,6 +242,10 @@
}
@@ -41,7 +41,7 @@
Index: worlds/bandit.world
===================================================================
---- worlds/bandit.world (revision 7891)
+--- worlds/bandit.world (revision 7929)
+++ worlds/bandit.world (working copy)
@@ -16,7 +16,7 @@
<verbosity>5</verbosity>
@@ -61,42 +61,3 @@
<static>false</static>
<attach>
-Index: worlds/test_stacks_with_rays.world
-===================================================================
---- worlds/test_stacks_with_rays.world (revision 7891)
-+++ worlds/test_stacks_with_rays.world (working copy)
-@@ -28,7 +28,7 @@
- <cfm>0.0000000001</cfm>
- <erp>0.2</erp>
- <quickStep>true</quickStep>
-- <quickStepIters>10</quickStepIters>
-+ <quickStepIters>100</quickStepIters>
- <quickStepW>1.3</quickStepW>
- </physics:ode>
-
-Index: worlds/test_stacks.world
-===================================================================
---- worlds/test_stacks.world (revision 7891)
-+++ worlds/test_stacks.world (working copy)
-@@ -28,7 +28,7 @@
- <cfm>0.0000000001</cfm>
- <erp>0.1</erp>
- <quickStep>true</quickStep>
-- <quickStepIters>30</quickStepIters>
-+ <quickStepIters>20</quickStepIters>
- <quickStepW>1.3</quickStepW>
- </physics:ode>
-
-Index: CMakeLists.txt
-===================================================================
---- CMakeLists.txt (revision 7891)
-+++ CMakeLists.txt (working copy)
-@@ -30,7 +30,7 @@
- SET (gazebocontroller_sources_desc "List of controller sources"
- CACHE INTERNAL "Gazebo controller sources list description" FORCE)
-
--SET (OGRE_VERSION 1.6.2 CACHE INTERNAL "Ogre version requirement" FORCE)
-+SET (OGRE_VERSION 1.6.1 CACHE INTERNAL "Ogre version requirement" FORCE)
-
- SET (FREEIMAGE_MAJOR_VERSION 3 CACHE INTERNAL "FreeImage major version requirement" FORCE)
- SET (FREEIMAGE_MINOR_VERSION 10 CACHE INTERNAL "FreeImage minor version requirement" FORCE)
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