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[Personalrobots-commit] SF.net SVN: personalrobots:[18461] pkg/trunk
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From: <wa...@us...> - 2009-07-08 04:58:15
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Revision: 18461
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18461&view=rev
Author: wattsk
Date: 2009-07-08 04:31:43 +0000 (Wed, 08 Jul 2009)
Log Message:
-----------
Changes to hot box deps, life test and hot box stuff for hot boxing
Modified Paths:
--------------
pkg/trunk/pr2/hot_box_test/base_shuffle.py
pkg/trunk/pr2/hot_box_test/manifest.xml
pkg/trunk/pr2/life_test/scripts/gripper_effort_controller.py
pkg/trunk/pr2/life_test/scripts/torso_life_test.py
pkg/trunk/stacks/pr2/pr2_alpha/pre.machine
pkg/trunk/stacks/pr2/pr2_default_controllers/scripts/tuckarm.py
Modified: pkg/trunk/pr2/hot_box_test/base_shuffle.py
===================================================================
--- pkg/trunk/pr2/hot_box_test/base_shuffle.py 2009-07-08 04:22:28 UTC (rev 18460)
+++ pkg/trunk/pr2/hot_box_test/base_shuffle.py 2009-07-08 04:31:43 UTC (rev 18461)
@@ -47,8 +47,11 @@
import rospy
from robot_msgs.msg import PoseDot
-from mechanism_control import mechanism
+from mechanism_msgs.srv import SpawnController, KillController
+spawn_controller = rospy.ServiceProxy('spawn_controller', SpawnController)
+kill_controller = rospy.ServiceProxy('kill_controller', KillController)
+
def main():
usage = "base_shuffle.py <dist>; Moves base in y dir side to side."
@@ -62,7 +65,7 @@
path = roslib.packages.get_pkg_dir("pr2_default_controllers")
xml_for_base = open(path + "/base_controller.xml")
- mechanism.spawn_controller(xml_for_base.read(), 1)
+ spawn_controller(xml_for_base.read(), 1)
# Publishes velocity every 0.05s, calculates number of publishes
num_publishes = int(distance * 20 * 2)
@@ -105,7 +108,7 @@
# Set velocity = 0
cmd_vel.vel.vy = float(0)
base_vel.publish(cmd_vel)
- mechanism.kill_controller('base_controller')
+ kill_controller('base_controller')
if __name__ == '__main__':
main()
Modified: pkg/trunk/pr2/hot_box_test/manifest.xml
===================================================================
--- pkg/trunk/pr2/hot_box_test/manifest.xml 2009-07-08 04:22:28 UTC (rev 18460)
+++ pkg/trunk/pr2/hot_box_test/manifest.xml 2009-07-08 04:31:43 UTC (rev 18461)
@@ -18,6 +18,7 @@
<depend package="pr2_default_controllers" />
<depend package="life_test" />
<depend package="ocean_battery_driver" />
- <depend package="mechanism_control" />
+ <depend package="robot_msgs" />
+ <depend package="mechanism_msgs" />
</package>
Modified: pkg/trunk/pr2/life_test/scripts/gripper_effort_controller.py
===================================================================
--- pkg/trunk/pr2/life_test/scripts/gripper_effort_controller.py 2009-07-08 04:22:28 UTC (rev 18460)
+++ pkg/trunk/pr2/life_test/scripts/gripper_effort_controller.py 2009-07-08 04:31:43 UTC (rev 18461)
@@ -35,7 +35,7 @@
import rospy
from mechanism_control import mechanism
from std_msgs.msg import Float64
-from robot_srvs.srv import SpawnController, KillController
+from mechanism_msgs.srv import SpawnController, KillController
import random
import sys
Modified: pkg/trunk/pr2/life_test/scripts/torso_life_test.py
===================================================================
--- pkg/trunk/pr2/life_test/scripts/torso_life_test.py 2009-07-08 04:22:28 UTC (rev 18460)
+++ pkg/trunk/pr2/life_test/scripts/torso_life_test.py 2009-07-08 04:31:43 UTC (rev 18461)
@@ -37,8 +37,7 @@
from time import sleep
from std_msgs.msg import Float64
-from mechanism_control import mechanism
-from robot_srvs.srv import SpawnController, KillController
+from mechanism_msgs.srv import SpawnController, KillController
from optparse import OptionParser
Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre.machine
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre.machine 2009-07-08 04:22:28 UTC (rev 18460)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre.machine 2009-07-08 04:31:43 UTC (rev 18461)
@@ -1,8 +1,9 @@
<launch>
- <machine name="realtime_root" user="root" address="c1" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never"/>
+ <machine name="realtime_root" user="root" address="pre1" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never"/>
- <machine name="realtime" address="c1" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="true"/>
- <machine name="two" address="c2" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" />
- <machine name="two_root" user="root" address="c2" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" />
- <machine name="stereo" address="c2" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" />
+ <machine name="realtime" address="pre1" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="true"/>
+ <machine name="two" address="pre2" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" />
+
+ <machine name="two_root" user="root" address="pre2" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" />
+ <machine name="stereo" address="pre2" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" />
</launch>
Modified: pkg/trunk/stacks/pr2/pr2_default_controllers/scripts/tuckarm.py
===================================================================
--- pkg/trunk/stacks/pr2/pr2_default_controllers/scripts/tuckarm.py 2009-07-08 04:22:28 UTC (rev 18460)
+++ pkg/trunk/stacks/pr2/pr2_default_controllers/scripts/tuckarm.py 2009-07-08 04:31:43 UTC (rev 18461)
@@ -139,7 +139,7 @@
controllers.append('r_arm_joint_trajectory_controller')
controllers.append('l_arm_joint_trajectory_controller')
- positions_l = [[0.4,0.0,0.0,-2.25,0.0,0.0,0.0], [0.0,1.05,1.57,-2.25,0.0,0.0,0.0]]
+ positions_l = [[0.4,0.0,0.0,-2.25,0.0,0.0,0.0], [0.0,.90,1.57,-2.25,0.0,0.0,0.0]]
positions_r = [[-0.4,0.0,0.0,-2.25,0.0,0.0,0.0], [0.0,1.57,-1.57,-1.57,0.0,0.0,0.0]]
go('r', positions_r)
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