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[Personalrobots-commit] SF.net SVN: personalrobots:[18231] pkg/trunk
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From: <hsu...@us...> - 2009-07-02 22:22:01
|
Revision: 18231
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18231&view=rev
Author: hsujohnhsu
Date: 2009-07-02 22:21:59 +0000 (Thu, 02 Jul 2009)
Log Message:
-----------
moving pr2 meshes out of gazebo_robot_description into pr2_ogre.
removing dependencies in gazebo_robot_description.
updating gazebo world launch scripts.
updating some build test launch scripts.
Modified Paths:
--------------
pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/manifest.xml
pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.launch
pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/manifest.xml
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/manifest.xml
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/CMakeLists.txt
pkg/trunk/robot_descriptions/gazebo_robot_description/manifest.xml
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
Added Paths:
-----------
pkg/trunk/stacks/simulators/gazebo/launch/camera_world.launch
pkg/trunk/stacks/simulators/gazebo/launch/scan_world.launch
Removed Paths:
-------------
pkg/trunk/robot_descriptions/gazebo_robot_description/Media/materials/scripts/pr2.material
Modified: pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/manifest.xml
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/manifest.xml 2009-07-02 21:27:56 UTC (rev 18230)
+++ pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/manifest.xml 2009-07-02 22:21:59 UTC (rev 18231)
@@ -8,6 +8,7 @@
<url>http://pr.willowgarage.com/wiki/test_pr2_collision_gazebo</url>
<depend package="gazebo_plugin"/>
<depend package="pr2_gazebo" />
+ <depend package="pr2_ogre" />
<depend package="gazebo_robot_description" />
<depend package="robot_msgs" />
</package>
Modified: pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.launch
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.launch 2009-07-02 21:27:56 UTC (rev 18230)
+++ pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.launch 2009-07-02 22:21:59 UTC (rev 18231)
@@ -1,6 +1,12 @@
<launch>
<include file="$(find gazebo)/launch/slide_world.launch" />
+ <!-- Robot state publisher -->
+ <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
+ <param name="publish_frequency" type="double" value="50.0" />
+ <param name="tf_prefix" type="string" value="" />
+ </node>
+
<!-- send single_link.xml to param server -->
<param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
Modified: pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/manifest.xml
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/manifest.xml 2009-07-02 21:27:56 UTC (rev 18230)
+++ pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/manifest.xml 2009-07-02 22:21:59 UTC (rev 18231)
@@ -10,6 +10,7 @@
<depend package="arm_gazebo" />
<depend package="pr2_mechanism_controllers" />
<depend package="pr2_gazebo" />
+ <depend package="pr2_ogre" />
<depend package="gazebo_robot_description" />
<depend package="deprecated_msgs" />
<depend package="robot_msgs" />
Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/manifest.xml
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/manifest.xml 2009-07-02 21:27:56 UTC (rev 18230)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/manifest.xml 2009-07-02 22:21:59 UTC (rev 18231)
@@ -9,6 +9,7 @@
<depend package="gazebo_plugin"/>
<depend package="arm_gazebo" />
<depend package="pr2_gazebo" />
+ <depend package="pr2_ogre" />
<depend package="gazebo_robot_description" />
<depend package="laser_scan" />
<depend package="sensor_msgs" />
Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.launch
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.launch 2009-07-02 21:27:56 UTC (rev 18230)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.launch 2009-07-02 22:21:59 UTC (rev 18231)
@@ -1,11 +1,6 @@
<launch>
- <param name="/use_sim_time" value="true" />
- <node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/gazebo_worlds/camera.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="$(find ogre)/ogre/lib/OGRE" />
- </node>
+ <include file="$(find gazebo)/launch/camera_world.launch" />
<!-- Robot state publisher -->
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.launch
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.launch 2009-07-02 21:27:56 UTC (rev 18230)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.launch 2009-07-02 22:21:59 UTC (rev 18231)
@@ -1,11 +1,6 @@
<launch>
- <param name="/use_sim_time" value="true" />
- <node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/gazebo_worlds/scan.world" respawn="false" output="screen">
- <env name="LD_LIBRARY_PATH" value="$(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>
+ <include file="$(find gazebo)/launch/scan_world.launch" />
<!-- Robot state publisher -->
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/CMakeLists.txt
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/CMakeLists.txt 2009-07-02 21:27:56 UTC (rev 18230)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/CMakeLists.txt 2009-07-02 22:21:59 UTC (rev 18231)
@@ -2,60 +2,3 @@
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
rospack(gazebo_robot_description)
-# find needed paths
-find_ros_package(pr2_defs)
-find_ros_package(gazebo_robot_description)
-find_ros_package(ogre)
-
-# build the ogre mesh files from *.stl (and *.stlb from convex decomposition)
-file(GLOB pr2_stl_files ${pr2_defs_PACKAGE_PATH}/meshes/*.stl ${pr2_defs_PACKAGE_PATH}/meshes/convex/*.stlb)
-set(pr2_gen_files "")
-
-set(pr2_out_path ${CMAKE_CURRENT_SOURCE_DIR}/Media/models/pr2)
-
-MAKE_DIRECTORY(${pr2_out_path})
-
-foreach(it ${pr2_stl_files})
- get_filename_component(basename ${it} NAME_WE)
-
- # convert to ogre files
- add_custom_command(
- OUTPUT ${pr2_out_path}/${basename}.mesh
- COMMAND rosrun
- ARGS ogre_tools stl_to_mesh ${it} ${pr2_out_path}/${basename}.mesh
- DEPENDS ${it})
-
- set(pr2_gen_files ${pr2_gen_files} ${pr2_out_path}/${basename}.mesh)
-endforeach(it)
-
-add_custom_target(media_files ALL DEPENDS ${pr2_gen_files})
-
-
-find_ros_package(ikea_objects)
-if(EXISTS ikea_objects_PACKAGE_PATH)
- # build the ogre mesh files from *.stl (and *.stlb from convex decomposition)
- file(GLOB ikea_objects_stl_files ${ikea_objects_PACKAGE_PATH}/meshes/convex/*_convex.stl)
- set(ikea_objects_gen_files "")
-
- set(ikea_objects_out_path ${CMAKE_CURRENT_SOURCE_DIR}/Media/models/ikea_objects)
-
- MAKE_DIRECTORY(${ikea_objects_out_path})
-
- foreach(it ${ikea_objects_stl_files})
- get_filename_component(basename ${it} NAME)
-
- # convert to ogre files
- add_custom_command(
- OUTPUT ${ikea_objects_out_path}/${basename}.mesh
- COMMAND rosrun
- ARGS ogre_tools stl_to_mesh ${it} ${ikea_objects_out_path}/${basename}.mesh
- COMMAND ${ogre_PACKAGE_PATH}/ogre/bin/OgreMeshUpgrade
- ARGS ${ikea_objects_out_path}/${basename}.mesh
- DEPENDS ${it})
-
- set(ikea_objects_gen_files ${ikea_objects_gen_files} ${ikea_objects_out_path}/${basename}.mesh)
- endforeach(it)
-
- add_custom_target(ikea_objects_media_files ALL DEPENDS ${ikea_objects_gen_files})
-endif(EXISTS ikea_objects_PACKAGE_PATH)
-
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/Media/materials/scripts/pr2.material
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/Media/materials/scripts/pr2.material 2009-07-02 21:27:56 UTC (rev 18230)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/Media/materials/scripts/pr2.material 2009-07-02 22:21:59 UTC (rev 18231)
@@ -1,366 +0,0 @@
-material PR2/floor_texture
-{
- technique
- {
- pass
- {
- texture_unit
- {
- texture map3.png
- tex_address_mode clamp
- }
- }
- }
-}
-
-material PR2/wall_texture
-{
- technique
- {
- pass
- {
- texture_unit
- {
- texture willowMap.png
- tex_address_mode clamp
- }
- }
- }
-}
-
-material PR2/wheel_right
-{
- technique
- {
- pass
- {
- texture_unit
- {
- texture pr2_wheel_right.png
- }
- }
- }
-}
-
-material PR2/wheel_left
-{
- technique
- {
- pass
- {
- texture_unit
- {
- texture pr2_wheel_left.png
- }
- }
- }
-}
-
-
-
-material PR2/fr_caster_l_wheel_link
-{
- technique
- {
- pass
- {
- texture_unit
- {
- texture pr2_wheel_right.png
- }
- }
- }
-}
-
-material PR2/fl_caster_l_wheel_link
-{
- technique
- {
- pass
- {
- texture_unit
- {
- texture pr2_wheel_left.png
- }
- }
- }
-}
-material PR2/br_caster_l_wheel_link
-{
- technique
- {
- pass
- {
- texture_unit
- {
- texture pr2_wheel_right.png
- }
- }
- }
-}
-
-material PR2/bl_caster_l_wheel_link
-{
- technique
- {
- pass
- {
- texture_unit
- {
- texture pr2_wheel_left.png
- }
- }
- }
-}
-
-
-material PR2/fr_caster_r_wheel_link
-{
- technique
- {
- pass
- {
- texture_unit
- {
- texture pr2_wheel_right.png
- }
- }
- }
-}
-
-material PR2/fl_caster_r_wheel_link
-{
- technique
- {
- pass
- {
- texture_unit
- {
- texture pr2_wheel_left.png
- }
- }
- }
-}
-material PR2/br_caster_r_wheel_link
-{
- technique
- {
- pass
- {
- texture_unit
- {
- texture pr2_wheel_right.png
- }
- }
- }
-}
-
-material PR2/bl_caster_r_wheel_link
-{
- technique
- {
- pass
- {
- texture_unit
- {
- texture pr2_wheel_left.png
- }
- }
- }
-}
-
-
-material PR2/RollLinks
-{
- technique
- {
- pass
- {
- texture_unit
- {
- texture pr2_wheel_left.png
- }
- }
- }
-}
-
-material PR2/Shiny
-{
- technique
- {
- pass
- {
- ambient 0.75 0.75 0.75
- texture_unit
- {
- texture plug_texture.jpg
- env_map spherical
- }
- }
- }
-}
-
-material PR2/Plug
-{
- technique
- {
- pass
- {
- texture_unit
- {
- texture plug_texture.jpg
- }
- }
- }
-}
-
-material PR2/Jack
-{
- technique
- {
- pass
- {
- texture_unit
- {
- texture jack_texture.jpg
- }
- }
- }
-}
-
-material PR2/Outlet
-{
- technique
- {
- pass
- {
- texture_unit
- {
- texture outlet_texture.jpg
- }
- }
- }
-}
-
-
-material PR2/White
-{
- receive_shadows on
- lighting on
-
- technique
- {
- pass
- {
- ambient 0.5 0.5 0.5 1.0
- diffuse 1.0 1.0 1.0 1.0
- specular 1.0 1.0 1.0 1.0
- shading gouraud
- }
- }
-}
-
-
-
-material PR2/Blue
-{
- receive_shadows on
-
- technique
- {
- pass
- {
- ambient 0.000000 0.000000 0.200000 1.000000
- diffuse 0.000000 0.000000 0.800000 1.000000
- specular 0.000000 0.000000 0.200000 1.000000
- emissive 0.000000 0.000000 0.000000 1.000000
- shading gouraud
- }
- }
-}
-
-material PR2/Grey2
-{
- receive_shadows on
- lighting on
-
- technique
- {
- pass
- {
- ambient 0.5 0.5 0.5 1.0
- diffuse 0.9 0.9 0.9 1.0
- specular 0.8 0.8 0.8 1
- lighting on
- }
- }
-}
-
-material PR2/Grey
-{
- receive_shadows on
- lighting on
-
- technique
- {
- pass
- {
- ambient 0.1 0.1 0.1 1.0
- diffuse 0.7 0.7 0.7 1.0
- specular 0.8 0.8 0.8 1
- }
- }
-}
-
-material PR2/Yellow
-{
- receive_shadows on
-
- technique
- {
- pass
- {
- ambient 0.200000 0.200000 0.000000 1.000000
- diffuse 0.800000 0.800000 0.000000 1.000000
- specular 0.200000 0.200000 0.000000 1.000000
- emissive 0.000000 0.000000 0.000000 1.000000
- lighting on
- }
- }
-}
-
-material PR2/Red
-{
- receive_shadows on
- technique
- {
- pass
- {
- ambient 0.200000 0.000000 0.000000 1.000000
- diffuse 0.800000 0.000000 0.000000 1.000000
- specular 0.200000 0.000000 0.000000 1.000000
- emissive 0.000000 0.000000 0.000000 1.000000
- lighting on
- shading phong
- }
- }
-}
-
-material PR2/Green
-{
- receive_shadows on
-
- technique
- {
- pass
- {
- ambient 0.000000 0.200000 0.000000 1.000000
- diffuse 0.000000 0.800000 0.000000 1.000000
- specular 0.000000 0.200000 0.000000 1.000000
- emissive 0.000000 0.000000 0.000000 0.000000
- lighting on
- shading phong
- }
- }
-}
-
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/manifest.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/manifest.xml 2009-07-02 21:27:56 UTC (rev 18230)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/manifest.xml 2009-07-02 22:21:59 UTC (rev 18231)
@@ -5,8 +5,6 @@
<review status="unreviewed" notes=""/>
<url>http://pr.willowgarage.com/wiki/FIXME</url>
- <depend package="wg_robot_description_parser"/>
<depend package="pr2_defs"/>
- <depend package="tf"/>
- <depend package="ogre_tools"/>
+ <depend package="pr2_ogre"/>
</package>
Modified: pkg/trunk/stacks/simulators/gazebo/launch/balcony_world.launch
===================================================================
--- pkg/trunk/stacks/simulators/gazebo/launch/balcony_world.launch 2009-07-02 21:27:56 UTC (rev 18230)
+++ pkg/trunk/stacks/simulators/gazebo/launch/balcony_world.launch 2009-07-02 22:21:59 UTC (rev 18231)
@@ -5,7 +5,7 @@
<node pkg="gazebo" type="gazebo" args="$(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="GAZEBO_RESOURCE_PATH" value="$(find pr2_ogre):$(find gazebo_robot_description):$(find gazebo)/gazebo/share/gazebo" />
<env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
</node>
Added: pkg/trunk/stacks/simulators/gazebo/launch/camera_world.launch
===================================================================
--- pkg/trunk/stacks/simulators/gazebo/launch/camera_world.launch (rev 0)
+++ pkg/trunk/stacks/simulators/gazebo/launch/camera_world.launch 2009-07-02 22:21:59 UTC (rev 18231)
@@ -0,0 +1,12 @@
+<launch>
+
+ <!-- start gazebo with an camera world -->
+ <param name="/use_sim_time" value="true" />
+
+ <node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/gazebo_worlds/camera.world" respawn="false" output="screen">
+ <env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(optenv LD_LIBRARY_PATH)" />
+ <env name="GAZEBO_RESOURCE_PATH" value="$(find pr2_ogre):$(find gazebo_robot_description):$(find gazebo)/gazebo/share/gazebo" />
+ <env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
+ </node>
+
+</launch>
Modified: pkg/trunk/stacks/simulators/gazebo/launch/empty_world.launch
===================================================================
--- pkg/trunk/stacks/simulators/gazebo/launch/empty_world.launch 2009-07-02 21:27:56 UTC (rev 18230)
+++ pkg/trunk/stacks/simulators/gazebo/launch/empty_world.launch 2009-07-02 22:21:59 UTC (rev 18231)
@@ -5,7 +5,7 @@
<node pkg="gazebo" type="gazebo" args="$(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="GAZEBO_RESOURCE_PATH" value="$(find pr2_ogre):$(find gazebo_robot_description):$(find gazebo)/gazebo/share/gazebo" />
<env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
</node>
Modified: pkg/trunk/stacks/simulators/gazebo/launch/empty_world_no_x.launch
===================================================================
--- pkg/trunk/stacks/simulators/gazebo/launch/empty_world_no_x.launch 2009-07-02 21:27:56 UTC (rev 18230)
+++ pkg/trunk/stacks/simulators/gazebo/launch/empty_world_no_x.launch 2009-07-02 22:21:59 UTC (rev 18231)
@@ -5,7 +5,7 @@
<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):$(find gazebo)/gazebo/share/gazebo" />
+ <env name="GAZEBO_RESOURCE_PATH" value="$(find pr2_ogre):$(find gazebo_robot_description):$(find gazebo)/gazebo/share/gazebo" />
<env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
</node>
Modified: pkg/trunk/stacks/simulators/gazebo/launch/office_world.launch
===================================================================
--- pkg/trunk/stacks/simulators/gazebo/launch/office_world.launch 2009-07-02 21:27:56 UTC (rev 18230)
+++ pkg/trunk/stacks/simulators/gazebo/launch/office_world.launch 2009-07-02 22:21:59 UTC (rev 18231)
@@ -5,7 +5,7 @@
<node pkg="gazebo" type="gazebo" args="$(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="GAZEBO_RESOURCE_PATH" value="$(find pr2_ogre):$(find gazebo_robot_description):$(find gazebo)/gazebo/share/gazebo" />
<env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
</node>
Added: pkg/trunk/stacks/simulators/gazebo/launch/scan_world.launch
===================================================================
--- pkg/trunk/stacks/simulators/gazebo/launch/scan_world.launch (rev 0)
+++ pkg/trunk/stacks/simulators/gazebo/launch/scan_world.launch 2009-07-02 22:21:59 UTC (rev 18231)
@@ -0,0 +1,12 @@
+<launch>
+
+ <!-- start gazebo with an scan world -->
+ <param name="/use_sim_time" value="true" />
+
+ <node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/gazebo_worlds/scan.world" respawn="false" output="screen">
+ <env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(optenv LD_LIBRARY_PATH)" />
+ <env name="GAZEBO_RESOURCE_PATH" value="$(find pr2_ogre):$(find gazebo_robot_description):$(find gazebo)/gazebo/share/gazebo" />
+ <env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
+ </node>
+
+</launch>
Modified: pkg/trunk/stacks/simulators/gazebo/launch/simple_world.launch
===================================================================
--- pkg/trunk/stacks/simulators/gazebo/launch/simple_world.launch 2009-07-02 21:27:56 UTC (rev 18230)
+++ pkg/trunk/stacks/simulators/gazebo/launch/simple_world.launch 2009-07-02 22:21:59 UTC (rev 18231)
@@ -5,7 +5,7 @@
<node pkg="gazebo" type="gazebo" args="$(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="GAZEBO_RESOURCE_PATH" value="$(find pr2_ogre):$(find gazebo_robot_description):$(find gazebo)/gazebo/share/gazebo" />
<env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
</node>
Modified: pkg/trunk/stacks/simulators/gazebo/launch/slide_world.launch
===================================================================
--- pkg/trunk/stacks/simulators/gazebo/launch/slide_world.launch 2009-07-02 21:27:56 UTC (rev 18230)
+++ pkg/trunk/stacks/simulators/gazebo/launch/slide_world.launch 2009-07-02 22:21:59 UTC (rev 18231)
@@ -5,7 +5,7 @@
<node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/gazebo_worlds/slide.world" respawn="false" output="screen">
<env name="LD_LIBRARY_PATH" value="$(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):$(find gazebo)/gazebo/share/gazebo" />
+ <env name="GAZEBO_RESOURCE_PATH" value="$(find pr2_ogre):$(find gazebo_robot_description):$(find gazebo)/gazebo/share/gazebo" />
<env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
</node>
Modified: pkg/trunk/stacks/simulators/gazebo/launch/wg_world.launch
===================================================================
--- pkg/trunk/stacks/simulators/gazebo/launch/wg_world.launch 2009-07-02 21:27:56 UTC (rev 18230)
+++ pkg/trunk/stacks/simulators/gazebo/launch/wg_world.launch 2009-07-02 22:21:59 UTC (rev 18231)
@@ -5,7 +5,7 @@
<node pkg="gazebo" type="gazebo" args="$(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="GAZEBO_RESOURCE_PATH" value="$(find pr2_ogre):$(find gazebo_robot_description):$(find gazebo)/gazebo/share/gazebo" />
<env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
</node>
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