Menu
▾
▴
[Personalrobots-commit] SF.net SVN: personalrobots:[18356] pkg/trunk
|
From: <hsu...@us...> - 2009-07-06 23:43:59
|
Revision: 18356
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18356&view=rev
Author: hsujohnhsu
Date: 2009-07-06 23:43:57 +0000 (Mon, 06 Jul 2009)
Log Message:
-----------
fix gazebo demo launch scripts.
Modified Paths:
--------------
pkg/trunk/demos/erratic_gazebo/erratic.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_defs/table_defs.xml
pkg/trunk/demos/pr2_gazebo/cups.launch
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/coffee_cup.model
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/desk1.model
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/desk2.model
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/desk3.model
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/desk4.model
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/desk5.model
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/desk6.model
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/object1.model
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/balcony.world
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple.world
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple_office.world
pkg/trunk/stacks/simulators/gazebo/launch/empty_world_no_x.launch
Added Paths:
-----------
pkg/trunk/demos/2dnav_gazebo/pr2-empty-amcl.launch
pkg/trunk/demos/2dnav_gazebo/pr2-empty-fake_localization.launch
pkg/trunk/demos/2dnav_gazebo/pr2-simple-fake_localization.launch
pkg/trunk/demos/2dnav_gazebo/pr2-wg-amcl.launch
pkg/trunk/demos/2dnav_gazebo/prototype1-simple-amcl.launch
pkg/trunk/demos/2dnav_gazebo/prototype1-wg-fake_localization.launch
pkg/trunk/demos/pr2_gazebo/coffee_cup.launch
pkg/trunk/demos/pr2_gazebo/cups2.launch
pkg/trunk/demos/pr2_gazebo/pr2.launch
pkg/trunk/demos/pr2_gazebo/prototype1.launch
pkg/trunk/demos/pr2_gazebo/prototype1_balcony_world.launch
pkg/trunk/demos/pr2_gazebo/prototype1_simple_office.launch
pkg/trunk/demos/pr2_gazebo/tables.launch
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/coffee_cup_large.model
Removed Paths:
-------------
pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-empty-amcl.launch
pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-empty-fake_localization.launch
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/2dnav-gazebo-simple-fake_localization.launch
pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg-amcl.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/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
Deleted: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-empty-amcl.launch
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-empty-amcl.launch 2009-07-06 23:13:24 UTC (rev 18355)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-empty-amcl.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -1,24 +0,0 @@
-<launch>
-
- <!-- start up robot -->
- <include file="$(find pr2_gazebo)/pr2_empty.launch"/>
-
- <!-- Tug Arms For Navigation -->
- <node pkg="pr2_mechanism_controllers" type="tuckarm.py" args="l" output="screen" />
- <node pkg="pr2_mechanism_controllers" type="tuckarm.py" args="r" output="screen" />
-
- <!-- load map -->
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/map_blank.png 0.1" respawn="true" machine="three" />
-
- <!-- nav-stack -->
- <include file="$(find 2dnav_gazebo)/2dnav-stack-amcl.launch"/>
-
- <!-- for visualization -->
- <include file="$(find 2dnav_pr2)/rviz/rviz_move_base.launch"/>
-
- <!-- for manual control -->
- <!--node pkg="teleop_base" type="teleop_base_keyboard" respawn="false" output="screen" /-->
- <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
-
-</launch>
-
Deleted: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-empty-fake_localization.launch
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-empty-fake_localization.launch 2009-07-06 23:13:24 UTC (rev 18355)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-empty-fake_localization.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -1,29 +0,0 @@
-<launch>
-
- <!-- start up robot -->
- <include file="$(find pr2_gazebo)/pr2_empty.launch"/>
-
- <!-- Tug Arms For Navigation -->
- <node pkg="pr2_mechanism_controllers" type="tuckarm.py" args="l" output="screen" />
- <node pkg="pr2_mechanism_controllers" type="tuckarm.py" args="r" output="screen" />
-
- <!-- load map -->
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/map_blank.png 0.1" respawn="true" machine="three" />
-
- <!-- nav-stack -->
- <include file="$(find 2dnav_gazebo)/2dnav-stack-fake_localization.launch"/>
-
- <!-- for visualization -->
- <!--
- <node pkg="nav_view" type="nav_view" respawn="false" output="screen" >
- <remap from="goal" to="/move_base/activate" />
- </node>
- <include file="$(find 2dnav_pr2)/rviz/rviz_move_base.launch"/>
- -->
-
- <!-- for manual control -->
- <!--node pkg="teleop_base" type="teleop_base_keyboard" respawn="false" output="screen" /-->
- <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
-
-</launch>
-
Deleted: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-simple-amcl.launch
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-simple-amcl.launch 2009-07-06 23:13:24 UTC (rev 18355)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-simple-amcl.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -1,25 +0,0 @@
-<launch>
-
- <!-- start up robot -->
- <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" />
-
- <!-- nav-stack -->
- <include file="$(find 2dnav_gazebo)/2dnav-stack-amcl.launch"/>
-
- <!-- for visualization -->
- <!--
- <node pkg="nav_view" type="nav_view" respawn="false" output="screen" >
- <remap from="goal" to="/move_base/activate" />
- </node>
- <include file="$(find 2dnav_pr2)/rviz/rviz_move_base.launch"/>
- -->
-
- <!-- for manual control -->
- <!--node pkg="teleop_base" type="teleop_base_keyboard" respawn="false" output="screen" /-->
- <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
-
-</launch>
-
Deleted: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-fake_localization.launch
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-fake_localization.launch 2009-07-06 23:13:24 UTC (rev 18355)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-fake_localization.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -1,25 +0,0 @@
-<launch>
-
- <!-- start up robot -->
- <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" />
-
- <!-- nav-stack -->
- <include file="$(find 2dnav_gazebo)/2dnav-stack-fake_localization.launch"/>
-
- <!-- for visualization -->
- <!--
- <node pkg="nav_view" type="nav_view" respawn="false" output="screen" >
- <remap from="goal" to="/move_base/activate" />
- </node>
- <include file="$(find 2dnav_pr2)/rviz/rviz_move_base.launch"/>
- -->
-
- <!-- for manual control -->
- <!--node pkg="teleop_base" type="teleop_base_keyboard" respawn="false" output="screen" /-->
- <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
-
-</launch>
-
Deleted: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple-fake_localization.launch
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple-fake_localization.launch 2009-07-06 23:13:24 UTC (rev 18355)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple-fake_localization.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -1,28 +0,0 @@
-<launch>
-
- <!-- start up robot -->
- <include file="$(find pr2_gazebo)/pr2_simple.launch"/>
-
- <!-- Tug Arms For Navigation -->
- <node pkg="pr2_mechanism_controllers" type="tuckarm.py" args="b" output="screen" />
-
- <!-- load map -->
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/map3.png 0.1" respawn="true" machine="three" />
-
- <!-- nav-stack -->
- <include file="$(find 2dnav_gazebo)/2dnav-stack-fake_localization.launch"/>
-
- <!-- for visualization -->
- <!--
- <node pkg="nav_view" type="nav_view" respawn="false" output="screen" >
- <remap from="goal" to="/move_base/activate" />
- </node>
- <include file="$(find 2dnav_pr2)/rviz/rviz_move_base.launch"/>
- -->
-
- <!-- for manual control -->
- <!--node pkg="teleop_base" type="teleop_base_keyboard" respawn="false" output="screen" /-->
- <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
-
-</launch>
-
Deleted: pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg-amcl.launch
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg-amcl.launch 2009-07-06 23:13:24 UTC (rev 18355)
+++ pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg-amcl.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -1,26 +0,0 @@
-<launch>
-
- <!-- start up robot -->
- <include file="$(find pr2_gazebo)/pr2_wg.launch"/>
-
- <!-- load map -->
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/willowMap.png 0.1" respawn="true" machine="three" />
-
- <!-- Tug Arms For Navigation -->
- <node pkg="pr2_mechanism_controllers" type="tuckarm.py" args="l" output="screen" />
- <node pkg="pr2_mechanism_controllers" type="tuckarm.py" args="r" output="screen" />
-
- <!-- nav-stack -->
- <include file="$(find 2dnav_gazebo)/2dnav-stack-amcl.launch"/>
-
- <!-- for visualization -->
- <!--
- <include file="$(find 2dnav_pr2)/rviz/rviz_move_base.launch"/>
- -->
-
- <!-- for manual control -->
- <!--node pkg="teleop_base" type="teleop_base_keyboard" respawn="false" output="screen" /-->
- <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
-
-</launch>
-
Copied: pkg/trunk/demos/2dnav_gazebo/pr2-empty-amcl.launch (from rev 18333, pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-empty-amcl.launch)
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/pr2-empty-amcl.launch (rev 0)
+++ pkg/trunk/demos/2dnav_gazebo/pr2-empty-amcl.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -0,0 +1,27 @@
+<launch>
+
+ <!-- start up empty world -->
+ <include file="$(find gazebo)/launch/empty_world.launch"/>
+
+ <!-- start up robot -->
+ <include file="$(find pr2_gazebo)/pr2.launch"/>
+
+ <!-- Tug Arms For Navigation -->
+ <node pkg="pr2_mechanism_controllers" type="tuckarm.py" args="l" output="screen" />
+ <node pkg="pr2_mechanism_controllers" type="tuckarm.py" args="r" output="screen" />
+
+ <!-- load map -->
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/map_blank.png 0.1" respawn="true" machine="three" />
+
+ <!-- nav-stack -->
+ <include file="$(find 2dnav_gazebo)/2dnav-stack-amcl.launch"/>
+
+ <!-- for visualization -->
+ <include file="$(find 2dnav_pr2)/rviz/rviz_move_base.launch"/>
+
+ <!-- for manual control -->
+ <!--node pkg="teleop_base" type="teleop_base_keyboard" respawn="false" output="screen" /-->
+ <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
+
+</launch>
+
Property changes on: pkg/trunk/demos/2dnav_gazebo/pr2-empty-amcl.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/2dnav_gazebo/2dnav-gazebo-empty-amcl.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/demos/2dnav_gazebo/pr2-empty-fake_localization.launch (from rev 18333, pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-empty-fake_localization.launch)
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/pr2-empty-fake_localization.launch (rev 0)
+++ pkg/trunk/demos/2dnav_gazebo/pr2-empty-fake_localization.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -0,0 +1,32 @@
+<launch>
+
+ <!-- start up empty world -->
+ <include file="$(find gazebo)/launch/empty_world.launch"/>
+
+ <!-- start up robot -->
+ <include file="$(find pr2_gazebo)/pr2.launch"/>
+
+ <!-- Tug Arms For Navigation -->
+ <node pkg="pr2_mechanism_controllers" type="tuckarm.py" args="l" output="screen" />
+ <node pkg="pr2_mechanism_controllers" type="tuckarm.py" args="r" output="screen" />
+
+ <!-- load map -->
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/map_blank.png 0.1" respawn="true" machine="three" />
+
+ <!-- nav-stack -->
+ <include file="$(find 2dnav_gazebo)/2dnav-stack-fake_localization.launch"/>
+
+ <!-- for visualization -->
+ <!--
+ <node pkg="nav_view" type="nav_view" respawn="false" output="screen" >
+ <remap from="goal" to="/move_base/activate" />
+ </node>
+ <include file="$(find 2dnav_pr2)/rviz/rviz_move_base.launch"/>
+ -->
+
+ <!-- for manual control -->
+ <!--node pkg="teleop_base" type="teleop_base_keyboard" respawn="false" output="screen" /-->
+ <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
+
+</launch>
+
Property changes on: pkg/trunk/demos/2dnav_gazebo/pr2-empty-fake_localization.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/2dnav_gazebo/2dnav-gazebo-empty-fake_localization.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/2dnav_gazebo/pr2-simple-fake_localization.launch (from rev 18333, pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-simple-fake_localization.launch)
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/pr2-simple-fake_localization.launch (rev 0)
+++ pkg/trunk/demos/2dnav_gazebo/pr2-simple-fake_localization.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -0,0 +1,31 @@
+<launch>
+
+ <!-- start up simple world -->
+ <include file="$(find gazebo)/launch/simple_world.launch"/>
+
+ <!-- start up robot -->
+ <include file="$(find pr2_gazebo)/pr2.launch"/>
+
+ <!-- Tug Arms For Navigation -->
+ <node pkg="pr2_mechanism_controllers" type="tuckarm.py" args="b" output="screen" />
+
+ <!-- load map -->
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/map3.png 0.1" respawn="true" machine="three" />
+
+ <!-- nav-stack -->
+ <include file="$(find 2dnav_gazebo)/2dnav-stack-fake_localization.launch"/>
+
+ <!-- for visualization -->
+ <!--
+ <node pkg="nav_view" type="nav_view" respawn="false" output="screen" >
+ <remap from="goal" to="/move_base/activate" />
+ </node>
+ <include file="$(find 2dnav_pr2)/rviz/rviz_move_base.launch"/>
+ -->
+
+ <!-- for manual control -->
+ <!--node pkg="teleop_base" type="teleop_base_keyboard" respawn="false" output="screen" /-->
+ <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
+
+</launch>
+
Property changes on: pkg/trunk/demos/2dnav_gazebo/pr2-simple-fake_localization.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/2dnav_gazebo/2dnav-gazebo-simple-fake_localization.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/demos/2dnav_gazebo/pr2-wg-amcl.launch (from rev 18333, pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-wg-amcl.launch)
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/pr2-wg-amcl.launch (rev 0)
+++ pkg/trunk/demos/2dnav_gazebo/pr2-wg-amcl.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -0,0 +1,29 @@
+<launch>
+
+ <!-- start up wg world -->
+ <include file="$(find gazebo)/launch/wg_world.launch"/>
+
+ <!-- start up robot -->
+ <include file="$(find pr2_gazebo)/pr2.launch"/>
+
+ <!-- load map -->
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/willowMap.png 0.1" respawn="true" machine="three" />
+
+ <!-- Tug Arms For Navigation -->
+ <node pkg="pr2_mechanism_controllers" type="tuckarm.py" args="l" output="screen" />
+ <node pkg="pr2_mechanism_controllers" type="tuckarm.py" args="r" output="screen" />
+
+ <!-- nav-stack -->
+ <include file="$(find 2dnav_gazebo)/2dnav-stack-amcl.launch"/>
+
+ <!-- for visualization -->
+ <!--
+ <include file="$(find 2dnav_pr2)/rviz/rviz_move_base.launch"/>
+ -->
+
+ <!-- for manual control -->
+ <!--node pkg="teleop_base" type="teleop_base_keyboard" respawn="false" output="screen" /-->
+ <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
+
+</launch>
+
Property changes on: pkg/trunk/demos/2dnav_gazebo/pr2-wg-amcl.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/2dnav_gazebo/2dnav-gazebo-wg-amcl.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/2dnav_gazebo/prototype1-simple-amcl.launch (from rev 18333, pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-simple-amcl.launch)
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/prototype1-simple-amcl.launch (rev 0)
+++ pkg/trunk/demos/2dnav_gazebo/prototype1-simple-amcl.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -0,0 +1,28 @@
+<launch>
+
+ <!-- start up simple world -->
+ <include file="$(find gazebo)/launch/simple_world.launch"/>
+
+ <!-- start up robot -->
+ <include file="$(find pr2_gazebo)/prototype1.launch"/>
+
+ <!-- load map -->
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/map3.png 0.1" respawn="true" machine="three" />
+
+ <!-- nav-stack -->
+ <include file="$(find 2dnav_gazebo)/2dnav-stack-amcl.launch"/>
+
+ <!-- for visualization -->
+ <!--
+ <node pkg="nav_view" type="nav_view" respawn="false" output="screen" >
+ <remap from="goal" to="/move_base/activate" />
+ </node>
+ <include file="$(find 2dnav_pr2)/rviz/rviz_move_base.launch"/>
+ -->
+
+ <!-- for manual control -->
+ <!--node pkg="teleop_base" type="teleop_base_keyboard" respawn="false" output="screen" /-->
+ <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
+
+</launch>
+
Property changes on: pkg/trunk/demos/2dnav_gazebo/prototype1-simple-amcl.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/2dnav_gazebo/2dnav-gazebo-prototype1-simple-amcl.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/demos/2dnav_gazebo/prototype1-wg-fake_localization.launch (from rev 18333, pkg/trunk/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-fake_localization.launch)
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/prototype1-wg-fake_localization.launch (rev 0)
+++ pkg/trunk/demos/2dnav_gazebo/prototype1-wg-fake_localization.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -0,0 +1,28 @@
+<launch>
+
+ <!-- start up wg world -->
+ <include file="$(find gazebo)/launch/wg_world.launch"/>
+
+ <!-- start up robot -->
+ <include file="$(find pr2_gazebo)/prototype1.launch"/>
+
+ <!-- load map -->
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/willowMap.png 0.1" respawn="true" machine="three" />
+
+ <!-- nav-stack -->
+ <include file="$(find 2dnav_gazebo)/2dnav-stack-fake_localization.launch"/>
+
+ <!-- for visualization -->
+ <!--
+ <node pkg="nav_view" type="nav_view" respawn="false" output="screen" >
+ <remap from="goal" to="/move_base/activate" />
+ </node>
+ <include file="$(find 2dnav_pr2)/rviz/rviz_move_base.launch"/>
+ -->
+
+ <!-- for manual control -->
+ <!--node pkg="teleop_base" type="teleop_base_keyboard" respawn="false" output="screen" /-->
+ <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
+
+</launch>
+
Property changes on: pkg/trunk/demos/2dnav_gazebo/prototype1-wg-fake_localization.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/2dnav_gazebo/2dnav-gazebo-prototype1-wg-fake_localization.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/erratic_gazebo/erratic.launch
===================================================================
--- pkg/trunk/demos/erratic_gazebo/erratic.launch 2009-07-06 23:13:24 UTC (rev 18355)
+++ pkg/trunk/demos/erratic_gazebo/erratic.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -1,26 +1,19 @@
<launch>
- <param name="/use_sim_time" value="true" />
-
<!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/pr2/erratic_defs/robots for full erratic -->
- <group name="wg">
- <!-- Create a transform sender for linking these frames. -->
- <node pkg="tf" type="transform_sender" args="0 0 0 0 0 0 base_footprint base_link 40" />
- <!-- send pr2.xml to param server -->
- <param name="robotdesc/erratic" command="$(find xacro)/xacro.py '$(find erratic_defs)/robots/erratic.xml'" />
+ <!-- start gazebo -->
+ <include file="$(find gazebo)/launch/simple_world.launch" />
- <!-- start gazebo -->
- <node pkg="gazebo" type="gazebo" args="$(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="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
- </node>
+ <!-- Create a transform sender for linking these frames. -->
+ <node pkg="tf" type="transform_sender" args="0 0 0 0 0 0 base_footprint base_link 40" />
- <!-- push robotdesc/erratic to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/erratic" respawn="false" output="screen" /> <!-- load default arm controller -->
+ <!-- send pr2.xml to param server -->
+ <param name="robotdesc/erratic" command="$(find xacro)/xacro.py '$(find erratic_defs)/robots/erratic.xml'" />
- <!-- load controllers -->
- <node pkg="gazebo_plugin" type="ros_diffdrive" respawn="true" />
- </group>
+ <!-- push robotdesc/erratic to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/erratic" respawn="false" output="screen" />
+
+ <!-- load controllers -->
+ <node pkg="gazebo_plugin" type="ros_diffdrive" respawn="true" />
</launch>
Modified: pkg/trunk/demos/examples_gazebo/dual_link.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/dual_link.launch 2009-07-06 23:13:24 UTC (rev 18355)
+++ pkg/trunk/demos/examples_gazebo/dual_link.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -5,9 +5,9 @@
<param name="robotdesc/pr2" command="$(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 -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" />
- <!--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="mechanism_control" type="mech.py" args="sp $(find examples_gazebo)/dual_link_defs/controllers_dual_link.xml" respawn="false" output="screen" /-->
<!--node pkg="robot_mechanism_controllers" type="control.py" args="set test_controller 0.5" respawn="false" output="screen" /--> <!-- open gripper .5 radians -->
</launch>
Modified: pkg/trunk/demos/examples_gazebo/multi_link.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/multi_link.launch 2009-07-06 23:13:24 UTC (rev 18355)
+++ pkg/trunk/demos/examples_gazebo/multi_link.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -5,9 +5,9 @@
<param name="robotdesc/pr2" command="$(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 -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" />
- <node pkg="mechanism_control" type="mech.py" args="sp $(find examples_gazebo)/multi_link_defs/controllers_multi_link_zero_gains.xml" respawn="false" output="screen" /> <!-- load default arm controller -->
+ <node pkg="mechanism_control" type="mech.py" args="sp $(find examples_gazebo)/multi_link_defs/controllers_multi_link_zero_gains.xml" respawn="false" output="screen" />
<!--node pkg="robot_mechanism_controllers" type="control.py" args="set test_controller 0.5" respawn="false" output="screen" /--> <!-- open gripper .5 radians -->
</launch>
Modified: pkg/trunk/demos/examples_gazebo/single_link.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/single_link.launch 2009-07-06 23:13:24 UTC (rev 18355)
+++ pkg/trunk/demos/examples_gazebo/single_link.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -5,9 +5,10 @@
<param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find examples_gazebo)/single_link_defs/single_link.xml'" />
<!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" /> <!-- load default arm controller -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" />
- <node pkg="mechanism_control" type="spawner.py" args="$(find examples_gazebo)/single_link_defs/controllers_single_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 -->
+ <node pkg="mechanism_control" type="spawner.py" args="$(find examples_gazebo)/single_link_defs/controllers_single_link.xml" respawn="false" output="screen" />
+
+ <node pkg="robot_mechanism_controllers" type="control.py" args="set test_controller 0.5" respawn="false" output="screen" />
</launch>
Modified: pkg/trunk/demos/examples_gazebo/table_defs/table_defs.xml
===================================================================
--- pkg/trunk/demos/examples_gazebo/table_defs/table_defs.xml 2009-07-06 23:13:24 UTC (rev 18355)
+++ pkg/trunk/demos/examples_gazebo/table_defs/table_defs.xml 2009-07-06 23:43:57 UTC (rev 18356)
@@ -57,7 +57,7 @@
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0" />
<map name="gazebo_material" flag="gazebo">
- <elem key="material">Gazebo/Fish</elem>
+ <elem key="material">Gazebo/LightWood</elem>
</map>
<geometry name="floor_visual_geom">
<mesh scale="1 1 0.05" />
@@ -239,7 +239,7 @@
<visual>
<origin xyz="0.0 0.0 ${object_1_height/2}" rpy="0 0 0" />
<map name="gazebo_material" flag="gazebo">
- <elem key="material">Gazebo/Blue</elem>
+ <elem key="material">Gazebo/BumpyMetal</elem>
</map>
<geometry name="object_1_visual_geom">
<mesh scale="${object_1_radius*2} ${object_1_radius*2} ${object_1_height}" />
@@ -277,7 +277,7 @@
<visual>
<origin xyz="0.0 0.0 ${object_1_base_height/2}" rpy="0 0 0" />
<map name="gazebo_material" flag="gazebo">
- <elem key="material">Gazebo/Red</elem>
+ <elem key="material">Gazebo/RustyBarrel</elem>
</map>
<geometry name="object_1_base_visual_geom">
<mesh scale="${object_1_base_width} ${object_1_base_width} ${object_1_base_height}" />
Added: pkg/trunk/demos/pr2_gazebo/coffee_cup.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/coffee_cup.launch (rev 0)
+++ pkg/trunk/demos/pr2_gazebo/coffee_cup.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -0,0 +1,10 @@
+<launch>
+
+ <!-- send urdf to param server -->
+ <param name="coffee_cup" textfile="$(find gazebo_robot_description)/gazebo_objects/coffee_cup.model" />
+
+ <!-- push urdf to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="xml2factory" args="coffee_cup 1 -.2 .84 0 0 0 coffee_cup" respawn="false" output="screen" />
+
+</launch>
+
Modified: pkg/trunk/demos/pr2_gazebo/cups.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/cups.launch 2009-07-06 23:13:24 UTC (rev 18355)
+++ pkg/trunk/demos/pr2_gazebo/cups.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -1,12 +1,12 @@
<launch>
- <include file="$(find gazebo)/launch/empty_world.launch" />
- <!-- send pr2.xml to param server -->
+
+ <!-- send urdf to param server -->
<param name="ikea_cup" textfile="$(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="$(find gazebo_robot_description)/gazebo_objects/coffee_cup.model" />
- <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
+ <!-- push urdf to factory and spawn robot in gazebo -->
<node pkg="gazebo_plugin" type="xml2factory" args="ikea_cup 0 -.8 0 0 0 0 ikea_cup" respawn="false" output="screen" />
<node pkg="gazebo_plugin" type="xml2factory" args="wine 1 0.0 0 0 0 0 wine" respawn="false" output="screen" />
<node pkg="gazebo_plugin" type="xml2factory" args="bowl 0 0.0 0 0 0 0 bowl" respawn="false" output="screen" />
Copied: pkg/trunk/demos/pr2_gazebo/cups2.launch (from rev 18333, pkg/trunk/demos/pr2_gazebo/pr2_cups.launch)
===================================================================
--- pkg/trunk/demos/pr2_gazebo/cups2.launch (rev 0)
+++ pkg/trunk/demos/pr2_gazebo/cups2.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -0,0 +1,15 @@
+<launch>
+ <!-- send urdf to param server -->
+ <param name="ikea_cup" textfile="$(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="$(find gazebo_robot_description)/gazebo_objects/coffee_cup.model" />
+
+ <!-- push urdf to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="xml2factory" args="ikea_cup 0 -.8 0 0 0 0 ikea_cup" respawn="false" output="screen" />
+ <node pkg="gazebo_plugin" type="xml2factory" args="wine 2 0.0 0 0 0 0 wine" respawn="false" output="screen" />
+ <node pkg="gazebo_plugin" type="xml2factory" args="bowl 0 0.0 0 0 0 0 bowl" respawn="false" output="screen" />
+ <node pkg="gazebo_plugin" type="xml2factory" args="coffee_cup 0 .8 0 0 0 0 coffee_cup" respawn="false" output="screen" />
+
+</launch>
+
Property changes on: pkg/trunk/demos/pr2_gazebo/cups2.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/pr2_gazebo/pr2_cups.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/demos/pr2_gazebo/pr2.launch (from rev 18333, pkg/trunk/demos/pr2_gazebo/pr2_empty.launch)
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2.launch (rev 0)
+++ pkg/trunk/demos/pr2_gazebo/pr2.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -0,0 +1,10 @@
+<launch>
+
+ <!-- send pr2.xml to param server -->
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
+
+ <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" />
+
+</launch>
+
Property changes on: pkg/trunk/demos/pr2_gazebo/pr2.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/pr2_gazebo/pr2_empty.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Deleted: pkg/trunk/demos/pr2_gazebo/pr2_balcony.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_balcony.launch 2009-07-06 23:13:24 UTC (rev 18355)
+++ pkg/trunk/demos/pr2_gazebo/pr2_balcony.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -1,27 +0,0 @@
-<launch>
- <include file="$(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'" />
-
- <!-- 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" />
-
- <!-- 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>
-
- <!-- startup base controller -->
- <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"/>
-
-</launch>
-
Deleted: pkg/trunk/demos/pr2_gazebo/pr2_cups.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_cups.launch 2009-07-06 23:13:24 UTC (rev 18355)
+++ pkg/trunk/demos/pr2_gazebo/pr2_cups.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -1,25 +0,0 @@
-<launch>
- <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" />
- <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="$(find gazebo_robot_description)/gazebo_objects/coffee_cup.model" />
-
- <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 -2 0 0 0 0" respawn="false" output="screen" />
- <node pkg="gazebo_plugin" type="xml2factory" args="ikea_cup 0 -.8 0 0 0 0 ikea_cup" respawn="false" output="screen" />
- <node pkg="gazebo_plugin" type="xml2factory" args="wine 2 0.0 0 0 0 0 wine" respawn="false" output="screen" />
- <node pkg="gazebo_plugin" type="xml2factory" args="bowl 0 0.0 0 0 0 0 bowl" respawn="false" output="screen" />
- <node pkg="gazebo_plugin" type="xml2factory" args="coffee_cup 0 .8 0 0 0 0 coffee_cup" respawn="false" output="screen" />
-
- <!-- Robot state publisher -->
- <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
- <param name="publish_frequency" type="double" value="50.0" />
- <param name="tf_prefix" type="string" value="" />
- </node>
-
-</launch>
-
Deleted: pkg/trunk/demos/pr2_gazebo/pr2_empty.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_empty.launch 2009-07-06 23:13:24 UTC (rev 18355)
+++ pkg/trunk/demos/pr2_gazebo/pr2_empty.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -1,22 +0,0 @@
-<launch>
- <include file="$(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'" />
-
- <!-- 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>
-
Deleted: pkg/trunk/demos/pr2_gazebo/pr2_empty_no_x.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_empty_no_x.launch 2009-07-06 23:13:24 UTC (rev 18355)
+++ pkg/trunk/demos/pr2_gazebo/pr2_empty_no_x.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -1,22 +0,0 @@
-<launch>
- <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 '$(find pr2_defs)/robots/pr2.xacro.xml'" />
-
- <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" />
-
- <!-- Joystick uncomment if you have joystick
- <param name="joy/deadzone" value="5000"/>
- <node machine="four" pkg="joy" type="joy" respawn="true"/>
- -->
-
- <!-- Robot state publisher -->
- <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
- <param name="publish_frequency" type="double" value="50.0" />
- <param name="tf_prefix" type="string" value="" />
- </node>
-
-</launch>
-
Deleted: pkg/trunk/demos/pr2_gazebo/pr2_simple.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_simple.launch 2009-07-06 23:13:24 UTC (rev 18355)
+++ pkg/trunk/demos/pr2_gazebo/pr2_simple.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -1,23 +0,0 @@
-<launch>
-
- <include file="$(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'" />
-
- <!-- 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>
-
Deleted: pkg/trunk/demos/pr2_gazebo/pr2_simple_office.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_simple_office.launch 2009-07-06 23:13:24 UTC (rev 18355)
+++ pkg/trunk/demos/pr2_gazebo/pr2_simple_office.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -1,40 +0,0 @@
-<launch>
- <include file="$(find gazebo)/launch/office_world.launch" />
-
- <!-- send urdf to param server -->
- <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prototype1.xacro.xml'" />
-
- <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 5 5 0 0 0 0" respawn="false" output="screen" />
-
- <!-- Joystick uncomment if you have joystick
- <param name="joy/deadzone" value="5000"/>
- <node machine="four" pkg="joy" type="joy" respawn="true"/>
- -->
-
- <!-- Robot state publisher -->
- <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
- <param name="publish_frequency" type="double" value="50.0" />
- <param name="tf_prefix" type="string" value="" />
- </node>
-
- <!-- startup base controller -->
- <param name="base_controller/odom_publish_rate" value="10" />
- <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" output="screen"/>
- <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/gazebo_head_torso_lift_controller.xml" output="screen"/>
-
- <!-- for visualization -->
- <node pkg="rviz" type="rviz" respawn="false" />
-
- <!-- dynamic map generation -->
- <node pkg="slam_gmapping" type="slam_gmapping" respawn="false" />
-
- <!-- nav-stack:
- NOTE: not working with amcl in loop, need to fix how amcl updates dynamic map
- NOTE: for now, rosrun teleop_base teleop_base_keyboard to drive robot around
- -->
- <!--include file="$(find 2dnav_gazebo)/2dnav-stack-amcl.launch"/-->
- <!--node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/map_blank.png 0.1" respawn="true" /-->
-
-</launch>
-
Deleted: pkg/trunk/demos/pr2_gazebo/pr2_wg.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_wg.launch 2009-07-06 23:13:24 UTC (rev 18355)
+++ pkg/trunk/demos/pr2_gazebo/pr2_wg.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -1,22 +0,0 @@
-<launch>
- <include file="$(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'" />
-
- <!-- 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" />
-
- <!-- 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>
-
Copied: pkg/trunk/demos/pr2_gazebo/prototype1.launch (from rev 18333, pkg/trunk/demos/pr2_gazebo/prototype1_wg.launch)
===================================================================
--- pkg/trunk/demos/pr2_gazebo/prototype1.launch (rev 0)
+++ pkg/trunk/demos/pr2_gazebo/prototype1.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -0,0 +1,21 @@
+<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 0 0 0 0 0 0 prototype1_model" 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>
+
Copied: pkg/trunk/demos/pr2_gazebo/prototype1_balcony_world.launch (from rev 18333, pkg/trunk/demos/pr2_gazebo/pr2_balcony.launch)
===================================================================
--- pkg/trunk/demos/pr2_gazebo/prototype1_balcony_world.launch (rev 0)
+++ pkg/trunk/demos/pr2_gazebo/prototype1_balcony_world.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -0,0 +1,27 @@
+<launch>
+ <include file="$(find gazebo)/launch/balcony_world.launch" />
+
+ <!-- send urdf to param server -->
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prototype1.xacro.xml'" />
+
+ <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 5 5 0 0 0 0" respawn="false" output="screen" />
+
+ <!-- Joystick uncomment if you have joystick
+ <param name="joy/deadzone" value="5000"/>
+ <node machine="four" pkg="joy" type="joy" respawn="true"/>
+ -->
+
+ <!-- Robot state publisher -->
+ <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
+ <param name="publish_frequency" type="double" value="50.0" />
+ <param name="tf_prefix" type="string" value="" />
+ </node>
+
+ <!-- startup base controller -->
+ <param name="base_controller/odom_publish_rate" value="10" />
+ <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" output="screen"/>
+ <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/gazebo_head_torso_lift_controller.xml" output="screen"/>
+
+</launch>
+
Property changes on: pkg/trunk/demos/pr2_gazebo/prototype1_balcony_world.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/pr2_gazebo/pr2_balcony.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Deleted: pkg/trunk/demos/pr2_gazebo/prototype1_empty.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/prototype1_empty.launch 2009-07-06 23:13:24 UTC (rev 18355)
+++ pkg/trunk/demos/pr2_gazebo/prototype1_empty.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -1,24 +0,0 @@
-<launch>
-
- <include file="$(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>
-
Deleted: pkg/trunk/demos/pr2_gazebo/prototype1_simple.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/prototype1_simple.launch 2009-07-06 23:13:24 UTC (rev 18355)
+++ pkg/trunk/demos/pr2_gazebo/prototype1_simple.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -1,23 +0,0 @@
-<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 '$(find pr2_defs)/robots/prototype1.xacro.xml'" />
-
- <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" />
-
- <!-- Joystick uncomment if you have joystick
- <param name="joy/deadzone" value="5000"/>
- <node machine="four" pkg="joy" type="joy" respawn="true"/>
- -->
-
- <!-- Robot state publisher -->
- <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
- <param name="publish_frequency" type="double" value="50.0" />
- <param name="tf_prefix" type="string" value="" />
- </node>
-
-</launch>
-
Copied: pkg/trunk/demos/pr2_gazebo/prototype1_simple_office.launch (from rev 18333, pkg/trunk/demos/pr2_gazebo/pr2_simple_office.launch)
===================================================================
--- pkg/trunk/demos/pr2_gazebo/prototype1_simple_office.launch (rev 0)
+++ pkg/trunk/demos/pr2_gazebo/prototype1_simple_office.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -0,0 +1,40 @@
+<launch>
+ <include file="$(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'" />
+
+ <!-- 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" />
+
+ <!-- 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>
+
+ <!-- startup base controller -->
+ <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"/>
+
+ <!-- for visualization -->
+ <node pkg="rviz" type="rviz" respawn="false" />
+
+ <!-- dynamic map generation -->
+ <node pkg="slam_gmapping" type="slam_gmapping" respawn="false" />
+
+ <!-- nav-stack:
+ NOTE: not working with amcl in loop, need to fix how amcl updates dynamic map
+ NOTE: for now, rosrun teleop_base teleop_base_keyboard to drive robot around
+ -->
+ <!--include file="$(find 2dnav_gazebo)/2dnav-stack-amcl.launch"/-->
+ <!--node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/map_blank.png 0.1" respawn="true" /-->
+
+</launch>
+
Property changes on: pkg/trunk/demos/pr2_gazebo/prototype1_simple_office.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/pr2_gazebo/pr2_simple_office.launch: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/pr2_gazebo/prototype1_tables.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/prototype1_tables.launch 2009-07-06 23:13:24 UTC (rev 18355)
+++ pkg/trunk/demos/pr2_gazebo/prototype1_tables.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -1,30 +0,0 @@
-<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>
-
Deleted: pkg/trunk/demos/pr2_gazebo/prototype1_wg.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/prototype1_wg.launch 2009-07-06 23:13:24 UTC (rev 18355)
+++ pkg/trunk/demos/pr2_gazebo/prototype1_wg.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -1,22 +0,0 @@
-<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 '$(find pr2_defs)/robots/prototype1.xacro.xml'" />
-
- <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 -5 -15 0 0 0 90" respawn="false" output="screen" />
-
- <!-- Joystick uncomment if you have joystick
- <param name="joy/deadzone" value="5000"/>
- <node machine="four" pkg="joy" type="joy" respawn="true"/>
- -->
-
- <!-- Robot state publisher -->
- <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
- <param name="publish_frequency" type="double" value="50.0" />
- <param name="tf_prefix" type="string" value="" />
- </node>
-
-</launch>
-
Copied: pkg/trunk/demos/pr2_gazebo/tables.launch (from rev 18333, pkg/trunk/demos/pr2_gazebo/prototype1_tables.launch)
===================================================================
--- pkg/trunk/demos/pr2_gazebo/tables.launch (rev 0)
+++ pkg/trunk/demos/pr2_gazebo/tables.launch 2009-07-06 23:43:57 UTC (rev 18356)
@@ -0,0 +1,10 @@
+<launch>
+ <!-- add tables in appropriate places for wg walls -->
+ <param name="desk1_model" textfile="$(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>
+
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/coffee_cup.model
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/coffee_cup.model 2009-07-06 23:13:24 UTC (rev 18355)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/coffee_cup.model 2009-07-06 23:43:57 UTC (rev 18356)
@@ -3,13 +3,12 @@
<model:physical name="coffee_cup_model">
<xyz> 3.0 0.0 0.009</xyz>
<rpy> 90.0 0.0 90.0</rpy>
- <static>true</static>
<body:trimesh name="cup1_body">
<geom:trimesh name="cup1_geom">
<laserRetro>2000.0</laserRetro>
<kp>1000000.0</kp>
<kd>1.0</kd>
- <scale>0.3 0.3 0.3</scale>
+ <scale>0.1 0.1 0.1</scale>
<mesh>cup.mesh</mesh>
<massMatrix>true</massMatrix>
@@ -25,7 +24,7 @@
<cz>0.0</cz>
<visual>
- <scale>0.3 0.3 0.3</scale>
+ <scale>0.1 0.1 0.1</scale>
<material>Gazebo/PioneerBody</material>
<mesh>cup.mesh</mesh>
</visual>
Added: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/coffee_cup_large.model
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/coffee_cup_large.model (rev 0)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/coffee_cup_large.model 2009-07-06 23:43:57 UTC (rev 18356)
@@ -0,0 +1,34 @@
+<?xml version="1.0" ?>
+<!-- The trimesh coffee cup -->
+<model:physical name="coffee_cup_model">
+ <xyz> 3.0 0.0 0.009</xyz>
+ <rpy> 90.0 0.0 90.0</rpy>
+ <static>true</static>
+ <body:trimesh name="cup1_body">
+ <ge...
[truncated message content] |
