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[Personalrobots-commit] SF.net SVN: personalrobots:[18138] pkg/trunk
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From: <hsu...@us...> - 2009-07-01 22:08:57
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Revision: 18138
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18138&view=rev
Author: hsujohnhsu
Date: 2009-07-01 22:08:10 +0000 (Wed, 01 Jul 2009)
Log Message:
-----------
* clean up gazebo package, remove unused files. added launch scripts for worlds.
* clean up gazebo demos.
* fix corresponding gazebo tests.
Modified Paths:
--------------
pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-simple-amcl.launch
pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-fake_localization.launch
pkg/trunk/demos/2dnav_gazebo/manifest.xml
pkg/trunk/demos/arm_gazebo/l_arm.launch
pkg/trunk/demos/arm_gazebo/l_gripper.launch
pkg/trunk/demos/arm_gazebo/r_arm.launch
pkg/trunk/demos/arm_gazebo/r_gripper.launch
pkg/trunk/demos/examples_gazebo/dual_link.launch
pkg/trunk/demos/examples_gazebo/multi_link.launch
pkg/trunk/demos/examples_gazebo/single_link.launch
pkg/trunk/demos/examples_gazebo/table.launch
pkg/trunk/demos/pr2_gazebo/cups.launch
pkg/trunk/demos/pr2_gazebo/head_cart_simple.launch
pkg/trunk/demos/pr2_gazebo/pr2_balcony.launch
pkg/trunk/demos/pr2_gazebo/pr2_cups.launch
pkg/trunk/demos/pr2_gazebo/pr2_empty.launch
pkg/trunk/demos/pr2_gazebo/pr2_empty_no_x.launch
pkg/trunk/demos/pr2_gazebo/pr2_simple.launch
pkg/trunk/demos/pr2_gazebo/pr2_simple_office.launch
pkg/trunk/demos/pr2_gazebo/pr2_wg.launch
pkg/trunk/demos/test_2dnav_gazebo/CMakeLists.txt
pkg/trunk/demos/test_2dnav_gazebo/manifest.xml
pkg/trunk/drivers/simulator/test_gazebo_plugin/CMakeLists.txt
pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/CMakeLists.txt
pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/manifest.xml
pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/CMakeLists.txt
pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/manifest.xml
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/CMakeLists.txt
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/manifest.xml
pkg/trunk/stacks/simulators/gazebo/Makefile
pkg/trunk/stacks/simulators/gazebo/gazebo_new_patch.diff
Added Paths:
-----------
pkg/trunk/demos/pr2_gazebo/prototype1_default_controllers.launch
pkg/trunk/demos/pr2_gazebo/prototype1_empty.launch
pkg/trunk/demos/pr2_gazebo/prototype1_simple.launch
pkg/trunk/demos/pr2_gazebo/prototype1_tables.launch
pkg/trunk/demos/pr2_gazebo/prototype1_wg.launch
pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_amcl_axis.launch
pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_axis.launch
pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_diagonal.launch
pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_odom.launch
pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_rotation.launch
pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_wg.launch
pkg/trunk/drivers/simulator/test_gazebo_plugin/test_pendulum.launch
pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.launch
pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_pr2_mechanism.launch
pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_pr2_odom.launch
pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_rostime.launch
pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/my_hztest.launch
pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_arm.launch
pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base.launch
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_image.launch
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_scan.launch
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.launch
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.launch
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/camera.world
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/scan.world
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/slide.world
pkg/trunk/stacks/simulators/gazebo/launch/
pkg/trunk/stacks/simulators/gazebo/launch/balcony_world.launch
pkg/trunk/stacks/simulators/gazebo/launch/empty_world.launch
pkg/trunk/stacks/simulators/gazebo/launch/empty_world_no_x.launch
pkg/trunk/stacks/simulators/gazebo/launch/office_world.launch
pkg/trunk/stacks/simulators/gazebo/launch/simple_world.launch
pkg/trunk/stacks/simulators/gazebo/launch/slide_world.launch
pkg/trunk/stacks/simulators/gazebo/launch/wg_world.launch
Removed Paths:
-------------
pkg/trunk/demos/examples_gazebo/dual_link_no_x.launch
pkg/trunk/demos/pr2_prototype1_gazebo/
pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_amcl_axis.xml
pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_axis.xml
pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_diagonal.xml
pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_odom.xml
pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_rotation.xml
pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_wg.xml
pkg/trunk/drivers/simulator/test_gazebo_plugin/test_pendulum.xml
pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.xml
pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_pr2_mechanism.xml
pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_pr2_odom.xml
pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_rostime.xml
pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/my_hztest.xml
pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_arm.xml
pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base.xml
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_image.xml
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_scan.xml
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.xml
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/
pkg/trunk/stacks/simulators/gazebo/empty_world.launch
pkg/trunk/stacks/simulators/gazebo/gazebo_patch.diff
pkg/trunk/stacks/simulators/gazebo/jointforce.diff
pkg/trunk/stacks/simulators/gazebo/patches/
pkg/trunk/stacks/simulators/gazebo/test_geom_mass.diff
pkg/trunk/stacks/simulators/gazebo/test_scons_patch.diff
Modified: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-simple-amcl.launch
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-simple-amcl.launch 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-simple-amcl.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -1,7 +1,7 @@
<launch>
<!-- start up robot -->
- <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_simple.launch"/>
+ <include file="$(find pr2_gazebo)/prototype1_simple.launch"/>
<!-- load map -->
<node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/map3.png 0.1" respawn="true" machine="three" />
Modified: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-fake_localization.launch
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-fake_localization.launch 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-fake_localization.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -1,7 +1,7 @@
<launch>
<!-- start up robot -->
- <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_wg.launch"/>
+ <include file="$(find pr2_gazebo)/prototype1_wg.launch"/>
<!-- load map -->
<node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/willowMap.png 0.1" respawn="true" machine="three" />
Modified: pkg/trunk/demos/2dnav_gazebo/manifest.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/manifest.xml 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/2dnav_gazebo/manifest.xml 2009-07-01 22:08:10 UTC (rev 18138)
@@ -17,7 +17,6 @@
<depend package="trex_pr2"/>
<depend package="robot_pose_ekf"/>
<depend package="pr2_gazebo"/>
- <depend package="pr2_prototype1_gazebo"/>
<depend package="point_cloud_assembler"/>
<depend package="semantic_point_annotator"/>
<depend package="or_robot_self_filter"/>
Modified: pkg/trunk/demos/arm_gazebo/l_arm.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/l_arm.launch 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/arm_gazebo/l_arm.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -2,17 +2,11 @@
<!--
Run a PR2 left arm in simulation
-->
- <param name="/use_sim_time" value="true" />
+ <include file="$(find gazebo)/launch/empty_world.launch" />
+
<!-- send pr2_l_arm.xml to param server -->
<param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/l_arm.xacro.xml'" />
- <!-- -g flag runs gazebo in gui-less mode -->
- <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
- <env name="LD_LIBRARY_PATH" value="$(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" respawn="false" output="screen"/>
Modified: pkg/trunk/demos/arm_gazebo/l_gripper.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/l_gripper.launch 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/arm_gazebo/l_gripper.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -2,17 +2,11 @@
<!--
Run a PR2 left arm in simulation
-->
- <param name="/use_sim_time" value="true" />
+ <include file="$(find gazebo)/launch/empty_world.launch" />
+
<!-- send pr2_l_arm.xml to param server -->
<param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/l_gripper.xacro.xml'" />
- <!-- -g flag runs gazebo in gui-less mode -->
- <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
- <env name="LD_LIBRARY_PATH" value="$(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" respawn="false" output="screen"/>
Modified: pkg/trunk/demos/arm_gazebo/r_arm.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/r_arm.launch 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/arm_gazebo/r_arm.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -2,17 +2,11 @@
<!--
Run a PR2 right arm in simulation
-->
- <param name="/use_sim_time" value="true" />
+ <include file="$(find gazebo)/launch/empty_world.launch" />
+
<!-- send pr2_r_arm.xml to param server -->
<param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_arm.xacro.xml'" />
- <!-- -g flag runs gazebo in gui-less mode -->
- <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
- <env name="LD_LIBRARY_PATH" value="$(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" respawn="false" output="screen"/>
Modified: pkg/trunk/demos/arm_gazebo/r_gripper.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/r_gripper.launch 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/arm_gazebo/r_gripper.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -2,17 +2,11 @@
<!--
Run a PR2 left arm in simulation
-->
- <param name="/use_sim_time" value="true" />
+ <include file="$(find gazebo)/launch/empty_world.launch" />
+
<!-- send pr2_r_arm.xml to param server -->
<param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_gripper.xacro.xml'" />
- <!-- -g flag runs gazebo in gui-less mode -->
- <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
- <env name="LD_LIBRARY_PATH" value="$(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" respawn="false" output="screen"/>
Modified: pkg/trunk/demos/examples_gazebo/dual_link.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/dual_link.launch 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/examples_gazebo/dual_link.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -1,15 +1,9 @@
<launch>
- <group name="wg">
- <!-- send dual_link.xml to param server -->
- <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find examples_gazebo)/dual_link_defs/dual_link.xml'" />
+ <include file="$(find gazebo)/launch/empty_world.launch" />
- <!-- start gazebo -->
- <node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
- <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="$(find ogre)/ogre/lib/OGRE" />
- </node>
- </group>
+ <!-- send dual_link.xml to param server -->
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find examples_gazebo)/dual_link_defs/dual_link.xml'" />
+
<!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
<node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" /> <!-- load default arm controller -->
Deleted: pkg/trunk/demos/examples_gazebo/dual_link_no_x.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/dual_link_no_x.launch 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/examples_gazebo/dual_link_no_x.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -1,19 +0,0 @@
-<launch>
- <group name="wg">
- <!-- send dual_link.xml to param server -->
- <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find examples_gazebo)/dual_link_defs/dual_link.xml'" />
-
- <!-- start gazebo -->
- <node pkg="gazebo" type="gazebo" args="-r $(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
- <env name="LD_LIBRARY_PATH" value="$(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>
- </group>
- <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" /> <!-- load default arm controller -->
-
- <!--node pkg="mechanism_control" type="mech.py" args="sp $(find examples_gazebo)/dual_link_defs/controllers_dual_link.xml" respawn="false" output="screen" /--> <!-- load default arm controller -->
- <!--node pkg="robot_mechanism_controllers" type="control.py" args="set test_controller 0.5" respawn="false" output="screen" /--> <!-- open gripper .5 radians -->
-</launch>
-
Modified: pkg/trunk/demos/examples_gazebo/multi_link.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/multi_link.launch 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/examples_gazebo/multi_link.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -1,15 +1,9 @@
<launch>
- <group name="wg">
- <!-- send multi_link.xml to param server -->
- <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find examples_gazebo)/multi_link_defs/multi_link.xml'" />
+ <include file="$(find gazebo)/launch/empty_world.launch" />
- <!-- start gazebo -->
- <node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
- <env name="LD_LIBRARY_PATH" value="$(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>
- </group>
+ <!-- send multi_link.xml to param server -->
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find examples_gazebo)/multi_link_defs/multi_link.xml'" />
+
<!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
<node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" /> <!-- load default arm controller -->
Modified: pkg/trunk/demos/examples_gazebo/single_link.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/single_link.launch 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/examples_gazebo/single_link.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -1,15 +1,9 @@
<launch>
- <group name="wg">
- <!-- send single_link.xml to param server -->
- <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find examples_gazebo)/single_link_defs/single_link.xml'" />
+ <include file="$(find gazebo)/launch/empty_world.launch" />
- <!-- start gazebo -->
- <node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
- <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="$(find ogre)/ogre/lib/OGRE" />
- </node>
- </group>
+ <!-- send single_link.xml to param server -->
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find examples_gazebo)/single_link_defs/single_link.xml'" />
+
<!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
<node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" /> <!-- load default arm controller -->
Modified: pkg/trunk/demos/examples_gazebo/table.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/table.launch 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/examples_gazebo/table.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -1,15 +1,8 @@
<launch>
- <group name="wg">
- <!-- send table.xml to param server -->
- <param name="robotdesc/table" command="$(find xacro)/xacro.py '$(find examples_gazebo)/table_defs/table.xml'" />
+ <include file="$(find gazebo)/launch/empty_world.launch" />
- <!-- start gazebo -->
- <node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
- <env name="LD_LIBRARY_PATH" value="$(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>
- </group>
+ <!-- send table.xml to param server -->
+ <param name="robotdesc/table" command="$(find xacro)/xacro.py '$(find examples_gazebo)/table_defs/table.xml'" />
<!-- push robotdesc/table to factory and spawn robot in gazebo -->
<node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/table" respawn="false" output="screen" /> <!-- load default arm controller -->
Modified: pkg/trunk/demos/pr2_gazebo/cups.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/cups.launch 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/pr2_gazebo/cups.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -1,18 +1,11 @@
<launch>
- <param name="/use_sim_time" value="true" />
+ <include file="$(find gazebo)/launch/empty_world.launch" />
<!-- send pr2.xml to param server -->
<param name="ikea_cup" textfile="$(find gazebo_robot_description)/gazebo_objects/ikea_cup.model" />
<param name="wine" textfile="$(find gazebo_robot_description)/gazebo_objects/000.580.67.model" />
<param name="bowl" textfile="$(find gazebo_robot_description)/gazebo_objects/001.327.79.model" />
<param name="coffee_cup" textfile="$(find gazebo_robot_description)/gazebo_objects/coffee_cup.model" />
- <!-- start gazebo -->
- <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
- <env name="LD_LIBRARY_PATH" value="$(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="xml2factory" args="ikea_cup 0 -.8 0 0 0 0 ikea_cup" respawn="false" output="screen" />
<node pkg="gazebo_plugin" type="xml2factory" args="wine 1 0.0 0 0 0 0 wine" respawn="false" output="screen" />
Modified: pkg/trunk/demos/pr2_gazebo/head_cart_simple.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/head_cart_simple.launch 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/pr2_gazebo/head_cart_simple.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -1,15 +1,9 @@
<launch>
- <param name="/use_sim_time" value="true" />
+ <include file="$(find gazebo)/launch/simple_world.launch" />
+
<!-- send head_cart.xml to param server -->
<param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/hca.xacro.xml'" />
- <!-- start gazebo -->
- <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/simple.world" respawn="false" output="screen">
- <env name="LD_LIBRARY_PATH" value="$(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" respawn="false" output="screen" />
Modified: pkg/trunk/demos/pr2_gazebo/pr2_balcony.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_balcony.launch 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/pr2_gazebo/pr2_balcony.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -1,14 +1,9 @@
<launch>
+ <include file="$(find gazebo)/launch/balcony_world.launch" />
+
<!-- send urdf to param server -->
<param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prototype1.xacro.xml'" />
- <!-- start gazebo -->
- <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/balcony.world" respawn="false" output="screen">
- <env name="LD_LIBRARY_PATH" value="$(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 5 5 0 0 0 0" respawn="false" output="screen" />
Modified: pkg/trunk/demos/pr2_gazebo/pr2_cups.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_cups.launch 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/pr2_gazebo/pr2_cups.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -1,5 +1,6 @@
<launch>
- <param name="/use_sim_time" value="true" />
+ <include file="$(find gazebo)/launch/empty_world.launch" />
+
<!-- send pr2.xml to param server -->
<param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
<param name="ikea_cup" textfile="$(find gazebo_robot_description)/gazebo_objects/ikea_cup.model" />
@@ -7,13 +8,6 @@
<param name="bowl" textfile="$(find gazebo_robot_description)/gazebo_objects/001.327.79.model" />
<param name="coffee_cup" textfile="$(find gazebo_robot_description)/gazebo_objects/coffee_cup.model" />
- <!-- start gazebo -->
- <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
- <env name="LD_LIBRARY_PATH" value="$(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 -2 0 0 0 0" respawn="false" output="screen" />
<node pkg="gazebo_plugin" type="xml2factory" args="ikea_cup 0 -.8 0 0 0 0 ikea_cup" respawn="false" output="screen" />
Modified: pkg/trunk/demos/pr2_gazebo/pr2_empty.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_empty.launch 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/pr2_gazebo/pr2_empty.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -1,15 +1,9 @@
<launch>
- <param name="/use_sim_time" value="true" />
+ <include file="$(find gazebo)/launch/empty_world.launch" />
+
<!-- send pr2.xml to param server -->
<param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
- <!-- start gazebo -->
- <node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
- <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="$(find ogre)/ogre/lib/OGRE" />
- </node>
-
<!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
<node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" />
Modified: pkg/trunk/demos/pr2_gazebo/pr2_empty_no_x.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_empty_no_x.launch 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/pr2_gazebo/pr2_empty_no_x.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -1,15 +1,9 @@
<launch>
- <param name="/use_sim_time" value="true" />
+ <include file="$(find gazebo)/launch/empty_world_no_x.launch" />
+
<!-- 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" launch-prefix="xvfb-run" type="gazebo" args="-u $(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
- <env name="LD_LIBRARY_PATH" value="$(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" respawn="false" output="screen" />
Modified: pkg/trunk/demos/pr2_gazebo/pr2_simple.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_simple.launch 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/pr2_gazebo/pr2_simple.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -1,16 +1,10 @@
<launch>
- <param name="/use_sim_time" value="true" />
- <!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/pr2/pr2_defs/robots for full pr2 -->
+
+ <include file="$(find gazebo)/launch/simple_world.launch" />
+
<!-- send pr2.xml to param server -->
<param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
- <!-- start gazebo -->
- <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/simple.world" respawn="false" output="screen">
- <env name="LD_LIBRARY_PATH" value="$(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" respawn="false" output="screen" />
Modified: pkg/trunk/demos/pr2_gazebo/pr2_simple_office.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_simple_office.launch 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/pr2_gazebo/pr2_simple_office.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -1,14 +1,9 @@
<launch>
+ <include file="$(find gazebo)/launch/office_world.launch" />
+
<!-- send urdf to param server -->
<param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prototype1.xacro.xml'" />
- <!-- start gazebo -->
- <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/simple_office.world" respawn="false" output="screen">
- <env name="LD_LIBRARY_PATH" value="$(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 5 5 0 0 0 0" respawn="false" output="screen" />
Modified: pkg/trunk/demos/pr2_gazebo/pr2_wg.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_wg.launch 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/pr2_gazebo/pr2_wg.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -1,19 +1,11 @@
<launch>
- <param name="/use_sim_time" value="true" />
+ <include file="$(find gazebo)/launch/wg_world.launch" />
+
<!-- send pr2.xml to param server -->
<param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
- <param name="wg_walls" textfile="$(find gazebo_robot_description)/gazebo_objects/wg_walls.model" />
- <!-- start gazebo -->
- <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
- <env name="LD_LIBRARY_PATH" value="$(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 -5 -15 0 0 90" respawn="false" output="screen" />
- <node pkg="gazebo_plugin" type="xml2factory" args="wg_walls -25.65 -25.65 0 0 0 0 wg_walls" respawn="false" output="screen" />
<!-- Joystick uncomment if you have joystick
<param name="joy/deadzone" value="5000"/>
Copied: pkg/trunk/demos/pr2_gazebo/prototype1_default_controllers.launch (from rev 18117, pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_default_controllers.launch)
===================================================================
--- pkg/trunk/demos/pr2_gazebo/prototype1_default_controllers.launch (rev 0)
+++ pkg/trunk/demos/pr2_gazebo/prototype1_default_controllers.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -0,0 +1,13 @@
+<launch>
+ <!-- use spawner.py to spawn all controllers listed in controllers.xml -->
+ <param name="base_controller/odom_publish_rate" value="10" />
+ <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" output="screen"/>
+ <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/gazebo_head_torso_lift_controller.xml" output="screen"/>
+
+ <!-- start tilting Hokuyo laser by sending it a preset code of 46, this means sawtooth profile sweep.
+ for details of the profile, rates, see controller::LaserScannerControllerNode. -->
+ <!--node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 20 0.872 0.3475" respawn="false" output="screen" /-->
+ <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/laser_tilt_controller.xml" />
+ <node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 2 .45 .40" />
+</launch>
+
Property changes on: pkg/trunk/demos/pr2_gazebo/prototype1_default_controllers.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/pr2_prototype1_gazebo/pr2_prototype1_default_controllers.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/demos/pr2_gazebo/prototype1_empty.launch (from rev 18117, pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_empty.launch)
===================================================================
--- pkg/trunk/demos/pr2_gazebo/prototype1_empty.launch (rev 0)
+++ pkg/trunk/demos/pr2_gazebo/prototype1_empty.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -0,0 +1,24 @@
+<launch>
+
+ <include file="$(find gazebo)/launch/empty_world.launch" />
+
+ <!-- send pr2.xml to parameter server as a string, allow retrieval by various components whe needs it
+ (Mechanism Control, BaseControllerNode, etc...) -->
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prototype1.xacro.xml'" />
+
+ <!-- push robotdesc/pr2 to factory and spawn robot in gazebo, the initial coordinates here is in Gazebo format, in the map frame, add offsets from P3D plugin (25.65,25.65) -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 0 0 0 0 0 0" respawn="false" output="screen" />
+
+ <!-- Joystick uncomment if you have joystick
+ <param name="joy/deadzone" value="5000"/>
+ <node machine="four" pkg="joy" type="joy" respawn="true"/>
+ -->
+
+ <!-- Robot state publisher -->
+ <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
+ <param name="publish_frequency" type="double" value="50.0" />
+ <param name="tf_prefix" type="string" value="" />
+ </node>
+
+</launch>
+
Property changes on: pkg/trunk/demos/pr2_gazebo/prototype1_empty.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/pr2_prototype1_gazebo/pr2_prototype1_empty.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/pr2_gazebo/prototype1_simple.launch (from rev 18117, pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_simple.launch)
===================================================================
--- pkg/trunk/demos/pr2_gazebo/prototype1_simple.launch (rev 0)
+++ pkg/trunk/demos/pr2_gazebo/prototype1_simple.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -0,0 +1,23 @@
+<launch>
+
+ <include file="$(find gazebo)/launch/simple_world.launch" />
+
+ <!-- send pr2.xml to parameter server as a string, allow retrieval by various components whe needs it (Mechanism Control, BaseControllerNode, etc...) -->
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prototype1.xacro.xml'" />
+
+ <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" />
+
+ <!-- Joystick uncomment if you have joystick
+ <param name="joy/deadzone" value="5000"/>
+ <node machine="four" pkg="joy" type="joy" respawn="true"/>
+ -->
+
+ <!-- Robot state publisher -->
+ <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
+ <param name="publish_frequency" type="double" value="50.0" />
+ <param name="tf_prefix" type="string" value="" />
+ </node>
+
+</launch>
+
Property changes on: pkg/trunk/demos/pr2_gazebo/prototype1_simple.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/pr2_prototype1_gazebo/pr2_prototype1_simple.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/demos/pr2_gazebo/prototype1_tables.launch (from rev 18117, pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_tables.launch)
===================================================================
--- pkg/trunk/demos/pr2_gazebo/prototype1_tables.launch (rev 0)
+++ pkg/trunk/demos/pr2_gazebo/prototype1_tables.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -0,0 +1,30 @@
+<launch>
+
+ <include file="$(find gazebo)/launch/empty_world.launch" />
+
+ <!-- send pr2.xml to parameter server as a string, allow retrieval by various components whe needs it (Mechanism Control, BaseControllerNode, etc...) -->
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prototype1.xacro.xml'" />
+
+ <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 -5 -15 0 0 0 0" respawn="false" output="screen" />
+
+ <!-- Joystick uncomment if you have joystick
+ <param name="joy/deadzone" value="5000"/>
+ <node machine="four" pkg="joy" type="joy" respawn="true"/>
+ -->
+
+ <!-- Robot state publisher -->
+ <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
+ <param name="publish_frequency" type="double" value="50.0" />
+ <param name="tf_prefix" type="string" value="" />
+ </node>
+
+ <!-- add tables -->
+ <param name="desk1_model" textfile="$(find gazebo_robot_description)/gazebo_objects/desk1.model" />
+ <param name="desk2_model" textfile="$(find gazebo_robot_description)/gazebo_objects/desk2.model" />
+ <param name="desk3_model" textfile="$(find gazebo_robot_description)/gazebo_objects/desk3.model" />
+ <node pkg="gazebo_plugin" type="xml2factory" args="desk1_model -2.0 -12.0 0.0 0 0 0 desk1_model" respawn="false" output="screen" />
+ <node pkg="gazebo_plugin" type="xml2factory" args="desk2_model -11.0 2.5 0.0 0 0 0 desk2_model" respawn="false" output="screen" />
+ <node pkg="gazebo_plugin" type="xml2factory" args="desk3_model -4.0 -12.0 0.0 0 0 0 desk3_model" respawn="false" output="screen" />
+</launch>
+
Property changes on: pkg/trunk/demos/pr2_gazebo/prototype1_tables.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/pr2_prototype1_gazebo/pr2_prototype1_tables.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/demos/pr2_gazebo/prototype1_wg.launch (from rev 18117, pkg/trunk/demos/pr2_prototype1_gazebo/pr2_prototype1_wg.launch)
===================================================================
--- pkg/trunk/demos/pr2_gazebo/prototype1_wg.launch (rev 0)
+++ pkg/trunk/demos/pr2_gazebo/prototype1_wg.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -0,0 +1,22 @@
+<launch>
+ <include file="$(find gazebo)/launch/wg_world.launch" />
+
+ <!-- send pr2.xml to parameter server as a string, allow retrieval by various components whe needs it (Mechanism Control, BaseControllerNode, etc...) -->
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prototype1.xacro.xml'" />
+
+ <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 -5 -15 0 0 0 90" respawn="false" output="screen" />
+
+ <!-- Joystick uncomment if you have joystick
+ <param name="joy/deadzone" value="5000"/>
+ <node machine="four" pkg="joy" type="joy" respawn="true"/>
+ -->
+
+ <!-- Robot state publisher -->
+ <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
+ <param name="publish_frequency" type="double" value="50.0" />
+ <param name="tf_prefix" type="string" value="" />
+ </node>
+
+</launch>
+
Property changes on: pkg/trunk/demos/pr2_gazebo/prototype1_wg.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/pr2_prototype1_gazebo/pr2_prototype1_wg.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Modified: pkg/trunk/demos/test_2dnav_gazebo/CMakeLists.txt
===================================================================
--- pkg/trunk/demos/test_2dnav_gazebo/CMakeLists.txt 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/test_2dnav_gazebo/CMakeLists.txt 2009-07-01 22:08:10 UTC (rev 18138)
@@ -19,11 +19,11 @@
if(CMAKE_SYSTEM_NAME MATCHES "Linux" AND _is32bit)
-rospack_add_rostest(test_2dnav_wg.xml)
-rospack_add_rostest(test_2dnav_empty_rotation.xml)
-rospack_add_rostest(test_2dnav_empty_odom.xml)
-rospack_add_rostest(test_2dnav_empty_diagonal.xml)
-rospack_add_rostest(test_2dnav_empty_axis.xml)
-rospack_add_rostest(test_2dnav_empty_amcl_axis.xml)
+rospack_add_rostest(test_2dnav_wg.launch)
+rospack_add_rostest(test_2dnav_empty_rotation.launch)
+rospack_add_rostest(test_2dnav_empty_odom.launch)
+rospack_add_rostest(test_2dnav_empty_diagonal.launch)
+rospack_add_rostest(test_2dnav_empty_axis.launch)
+rospack_add_rostest(test_2dnav_empty_amcl_axis.launch)
endif(CMAKE_SYSTEM_NAME MATCHES "Linux" AND _is32bit)
Modified: pkg/trunk/demos/test_2dnav_gazebo/manifest.xml
===================================================================
--- pkg/trunk/demos/test_2dnav_gazebo/manifest.xml 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/test_2dnav_gazebo/manifest.xml 2009-07-01 22:08:10 UTC (rev 18138)
@@ -13,7 +13,6 @@
<depend package="trex_pr2"/>
<depend package="robot_pose_ekf"/>
<depend package="pr2_gazebo"/>
- <depend package="pr2_prototype1_gazebo"/>
<depend package="tf"/>
<depend package="point_cloud_assembler"/>
<depend package="std_msgs"/>
Copied: pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_amcl_axis.launch (from rev 18117, pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_amcl_axis.xml)
===================================================================
--- pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_amcl_axis.launch (rev 0)
+++ pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_amcl_axis.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -0,0 +1,48 @@
+<launch>
+ <master auto="start" />
+
+ <!-- load robot -->
+ <include file="$(find pr2_gazebo)/prototype1_empty.launch"/>
+
+ <!-- load map -->
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/map_blank.png 0.1" respawn="false" output="screen" />
+
+ <!-- nav-stack -->
+ <include file="$(find 2dnav_gazebo)/2dnav-stack-amcl.launch"/>
+
+ <!-- for visualization -->
+ <!--
+ <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
+ <node pkg="rviz" type="rviz" respawn="false" output="screen" />
+ <node pkg="rosviz" type="rxplot" respawn="false" output="screen" args="-m. -p10 /state/pos/x,/state/pos/y,/state/pos/th" />
+ -->
+
+ <!--
+ <param name="/trex/ping_frequency" value="1"/>
+ <node pkg="highlevel_controllers" type="recharge_controller" args="" respawn="false" />
+ <node pkg="kinematic_planning" type="kinematic_planning" args="robotdesc/pr2"/>
+ <include file="$(find world_3d_map)/run.xml"/>
+ <node pkg="highlevel_controllers" type="move_arm" args="right" respawn="false"/>
+ <node pkg="highlevel_controllers" type="move_arm" args="left" respawn="false" />
+ <node pkg="highlevel_controllers" type="move_end_effector" args="right" respawn="false"/>
+ -->
+
+ <!-- test -->
+ <test test-name="2dnav_gazebo_test_2dnav_empty_amcl_xmpi" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 23.56 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 140 -amcl 25.70 25.70 0" time-limit="150" />
+ <test test-name="2dnav_gazebo_test_2dnav_empty_amcl_xm1" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 24.70 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 140 -amcl 25.70 25.70 0" time-limit="150" />
+ <test test-name="2dnav_gazebo_test_2dnav_empty_amcl_x1" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 26.70 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 70 -amcl 25.70 25.70 0" time-limit="80" />
+ <test test-name="2dnav_gazebo_test_2dnav_empty_amcl_xpi" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 28.84 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 70 -amcl 25.70 25.70 0" time-limit="80" />
+
+ <test test-name="2dnav_gazebo_test_2dnav_empty_amcl_ympi" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 23.56 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 110 -amcl 25.70 25.70 0" time-limit="120" />
+ <test test-name="2dnav_gazebo_test_2dnav_empty_amcl_y1" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 26.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 -amcl 25.70 25.70 0" time-limit="90" />
+
+ <!-- these tests do not pass, commented out for now until fixed
+ <test test-name="2dnav_gazebo_test_2dnav_empty_amcl_ym1" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 24.70 -t 0 -nav_t_tol 0.1 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 -amcl 25.70 25.70 0" time-limit="90" />
+ <test test-name="2dnav_gazebo_test_2dnav_empty_amcl_ypi" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 28.84 -t 0 -nav_t_tol 0.1 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 -amcl 25.70 25.70 0" time-limit="90" />
+ -->
+
+ <!--
+ <node pkg="rosrecord" type="rosrecord" args="-f 2dnav_empty_amcl_axis-build$(optenv BUILD_NUMBER) /odom /cmd_vel"/>
+ -->
+
+</launch>
Property changes on: pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_amcl_axis.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/test_2dnav_gazebo/test_2dnav_empty_amcl_axis.xml:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Deleted: pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_amcl_axis.xml
===================================================================
--- pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_amcl_axis.xml 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_amcl_axis.xml 2009-07-01 22:08:10 UTC (rev 18138)
@@ -1,48 +0,0 @@
-<launch>
- <master auto="start" />
-
- <!-- load robot -->
- <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_empty.launch"/>
-
- <!-- load map -->
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/map_blank.png 0.1" respawn="false" output="screen" />
-
- <!-- nav-stack -->
- <include file="$(find 2dnav_gazebo)/2dnav-stack-amcl.launch"/>
-
- <!-- for visualization -->
- <!--
- <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
- <node pkg="rviz" type="rviz" respawn="false" output="screen" />
- <node pkg="rosviz" type="rxplot" respawn="false" output="screen" args="-m. -p10 /state/pos/x,/state/pos/y,/state/pos/th" />
- -->
-
- <!--
- <param name="/trex/ping_frequency" value="1"/>
- <node pkg="highlevel_controllers" type="recharge_controller" args="" respawn="false" />
- <node pkg="kinematic_planning" type="kinematic_planning" args="robotdesc/pr2"/>
- <include file="$(find world_3d_map)/run.xml"/>
- <node pkg="highlevel_controllers" type="move_arm" args="right" respawn="false"/>
- <node pkg="highlevel_controllers" type="move_arm" args="left" respawn="false" />
- <node pkg="highlevel_controllers" type="move_end_effector" args="right" respawn="false"/>
- -->
-
- <!-- test -->
- <test test-name="2dnav_gazebo_test_2dnav_empty_amcl_xmpi" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 23.56 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 140 -amcl 25.70 25.70 0" time-limit="150" />
- <test test-name="2dnav_gazebo_test_2dnav_empty_amcl_xm1" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 24.70 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 140 -amcl 25.70 25.70 0" time-limit="150" />
- <test test-name="2dnav_gazebo_test_2dnav_empty_amcl_x1" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 26.70 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 70 -amcl 25.70 25.70 0" time-limit="80" />
- <test test-name="2dnav_gazebo_test_2dnav_empty_amcl_xpi" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 28.84 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 70 -amcl 25.70 25.70 0" time-limit="80" />
-
- <test test-name="2dnav_gazebo_test_2dnav_empty_amcl_ympi" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 23.56 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 110 -amcl 25.70 25.70 0" time-limit="120" />
- <test test-name="2dnav_gazebo_test_2dnav_empty_amcl_y1" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 26.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 -amcl 25.70 25.70 0" time-limit="90" />
-
- <!-- these tests do not pass, commented out for now until fixed
- <test test-name="2dnav_gazebo_test_2dnav_empty_amcl_ym1" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 24.70 -t 0 -nav_t_tol 0.1 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 -amcl 25.70 25.70 0" time-limit="90" />
- <test test-name="2dnav_gazebo_test_2dnav_empty_amcl_ypi" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 28.84 -t 0 -nav_t_tol 0.1 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 -amcl 25.70 25.70 0" time-limit="90" />
- -->
-
- <!--
- <node pkg="rosrecord" type="rosrecord" args="-f 2dnav_empty_amcl_axis-build$(optenv BUILD_NUMBER) /odom /cmd_vel"/>
- -->
-
-</launch>
Copied: pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_axis.launch (from rev 18117, pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_axis.xml)
===================================================================
--- pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_axis.launch (rev 0)
+++ pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_axis.launch 2009-07-01 22:08:10 UTC (rev 18138)
@@ -0,0 +1,48 @@
+<launch>
+ <master auto="start" />
+
+ <!-- load robot -->
+ <include file="$(find pr2_gazebo)/prototype1_empty.launch"/>
+
+ <!-- load map -->
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/map_blank.png 0.1" respawn="false" output="screen" />
+
+ <!-- nav-stack -->
+ <include file="$(find 2dnav_gazebo)/2dnav-stack-fake_localization.launch"/>
+
+ <!-- for visualization -->
+ <!--
+ <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
+ <node pkg="rviz" type="rviz" respawn="false" output="screen" />
+ <node pkg="rosviz" type="rxplot" respawn="false" output="screen" args="-m. -p10 /state/pos/x,/state/pos/y,/state/pos/th" />
+ -->
+
+ <!--
+ <param name="/trex/ping_frequency" value="1"/>
+ <node pkg="highlevel_controllers" type="recharge_controller" args="" respawn="false" />
+ <node pkg="kinematic_planning" type="kinematic_planning" args="robotdesc/pr2"/>
+ <include file="$(find world_3d_map)/run.xml"/>
+ <node pkg="highlevel_controllers" type="move_arm" args="right" respawn="false"/>
+ <node pkg="highlevel_controllers" type="move_arm" args="left" respawn="false" />
+ <node pkg="highlevel_controllers" type="move_end_effector" args="right" respawn="false"/>
+ -->
+
+ <!-- test -->
+ <test test-name="2dnav_gazebo_test_2dnav_empty_xmpi" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 23.56 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 140 " time-limit="150" />
+ <test test-name="2dnav_gazebo_test_2dnav_empty_xm1" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 24.70 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 140 " time-limit="150" />
+ <test test-name="2dnav_gazebo_test_2dnav_empty_x1" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 26.70 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 70 " time-limit="80" />
+ <test test-name="2dnav_gazebo_test_2dnav_empty_xpi" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 28.84 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 70 " time-limit="80" />
+
+ <test test-name="2dnav_gazebo_test_2dnav_empty_ympi" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 23.56 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 110 " time-limit="120" />
+ <test test-name="2dnav_gazebo_test_2dnav_empty_y1" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 26.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 " time-limit="90" />
+
+ <!-- these tests do not pass, commented out for now until fixed
+ <test test-name="2dnav_gazebo_test_2dnav_empty_ym1" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 24.70 -t 0 -nav_t_tol 0.1 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 " time-limit="90" />
+ <test test-name="2dnav_gazebo_test_2dnav_empty_ypi" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 28.84 -t 0 -nav_t_tol 0.1 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 " time-limit="90" />
+ -->
+
+ <!--
+ <node pkg="rosrecord" type="rosrecord" args="-f 2dnav_empty_axis-build$(optenv BUILD_NUMBER) /odom /cmd_vel"/>
+ -->
+
+</launch>
Property changes on: pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_axis.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/test_2dnav_gazebo/test_2dnav_empty_axis.xml:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Deleted: pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_axis.xml
===================================================================
--- pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_axis.xml 2009-07-01 21:38:39 UTC (rev 18137)
+++ pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_axis.xml 2009-07-01 22:08:10 UTC (rev 18138)
@@ -1,48 +0,0 @@
-<launch>
- <master auto="start" />
-
- <!-- load robot -->
- <include file="$(find pr2_prototype1_gazebo)/pr2_prototype1_empty.launch"/>
-
- <!-- load map -->
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/map_blank.png 0.1" respawn="false" output="screen" />
-
- <!-- nav-stack -->
- <include file="$(find 2dnav_gazebo)/2dnav-stack-fake_localization.launch"/>
-
- <!-- for visualization -->
- <!--
- <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
- <node pkg="rviz" type="rviz" respawn="false" output="screen" />
- <node pkg="rosviz" type="rxplot" respawn="false" output="screen" args="-m. -p10 /state/pos/x,/state/pos/y,/state/pos/th" />
- -->
-
- <!--
- <param name="/trex/ping_frequency" value="1"/>
- <node pkg="highlevel_controllers" type="recharge_controller" args="" respawn="false" />
- <node pkg="kinematic_planning" type="kinematic_planning" args="robotdesc/pr2"/>
- <include file="$(find world_3d_map)/run.xml"/>
- <node pkg="highlevel_controllers" type="move_arm" args="right" respawn="false"/>
- <node pkg="highlevel_controllers" type="move_arm" args="left" respawn="false" />
- <node pkg="highlevel_controllers" type="move_end_effector" args="right" respawn="false"/>
- -->
-
- <!-- test -->
- <test test-name="2dnav_gazebo_test_2dnav_empty_xmpi" pkg="test_2dnav_gazebo" type="set_goal.py" args=" -x 23.56 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_...
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