[Personalrobots-commit] SF.net SVN: personalrobots:[18796] pkg/trunk/motion_planning/ planning_environment

[<is...@us...>]

Revision: 18796
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18796&view=rev
Author:   isucan
Date:     2009-07-14 22:21:09 +0000 (Tue, 14 Jul 2009)

Log Message:
-----------
adding launch file

Modified Paths:
--------------
    pkg/trunk/motion_planning/planning_environment/CMakeLists.txt

Added Paths:
-----------
    pkg/trunk/motion_planning/planning_environment/display_planner_collision_model.launch

Modified: pkg/trunk/motion_planning/planning_environment/CMakeLists.txt
===================================================================
--- pkg/trunk/motion_planning/planning_environment/CMakeLists.txt	2009-07-14 22:19:18 UTC (rev 18795)
+++ pkg/trunk/motion_planning/planning_environment/CMakeLists.txt	2009-07-14 22:21:09 UTC (rev 18796)
@@ -5,6 +5,11 @@
 
 set(ROS_BUILD_TYPE Debug)
 
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
 rospack_add_library(planning_environment src/models/robot_models.cpp
 					 src/models/collision_models.cpp
 					 src/monitors/kinematic_model_state_monitor.cpp

Added: pkg/trunk/motion_planning/planning_environment/display_planner_collision_model.launch
===================================================================
--- pkg/trunk/motion_planning/planning_environment/display_planner_collision_model.launch	                        (rev 0)
+++ pkg/trunk/motion_planning/planning_environment/display_planner_collision_model.launch	2009-07-14 22:21:09 UTC (rev 18796)
@@ -0,0 +1,12 @@
+
+<launch> 
+  <node pkg="planning_environment" type="display_planner_collision_model" respawn="false" output="screen">
+    <remap from="robot_description" to="robotdesc/pr2" />
+    <remap from="collision_map" to="collision_map_occ" />
+    <remap from="collision_map_update" to="SKIP_THIS_TOPIC" />
+    <param name="refresh_interval_collision_map" type="double" value="5.0" />
+    <param name="refresh_interval_kinematic_state" type="double" value="1.0" />
+    <param name="refresh_interval_pose" type="double" value="1.0" />
+    <param name="bounding_planes" type="string" value="0 0 1 -0.01" />
+  </node>
+</launch>


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