[Personalrobots-commit] SF.net SVN: personalrobots:[18884] pkg/trunk/stacks/pr2/pr2_alpha

[<mm...@us...>]

Revision: 18884
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18884&view=rev
Author:   mmwise
Date:     2009-07-15 20:46:17 +0000 (Wed, 15 Jul 2009)

Log Message:
-----------
switching the telop_joystick to the new head_postion_controller

Modified Paths:
--------------
    pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch

Removed Paths:
-------------
    pkg/trunk/stacks/pr2/pr2_alpha/head.launch
    pkg/trunk/stacks/pr2/pr2_alpha/head_pan_tilt_controller.xml

Deleted: pkg/trunk/stacks/pr2/pr2_alpha/head.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/head.launch	2009-07-15 20:45:27 UTC (rev 18883)
+++ pkg/trunk/stacks/pr2/pr2_alpha/head.launch	2009-07-15 20:46:17 UTC (rev 18884)
@@ -1,5 +0,0 @@
-<launch>
-  <node pkg="mechanism_control" type="spawner.py" args="'$(find pr2_alpha)/head_pan_tilt_controller.xml" />
-  <node pkg="pr2_mechanism_controllers" type="pointhead.py" args="0 0.15"/>
-</launch>
-

Deleted: pkg/trunk/stacks/pr2/pr2_alpha/head_pan_tilt_controller.xml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/head_pan_tilt_controller.xml	2009-07-15 20:45:27 UTC (rev 18883)
+++ pkg/trunk/stacks/pr2/pr2_alpha/head_pan_tilt_controller.xml	2009-07-15 20:46:17 UTC (rev 18884)
@@ -1,16 +0,0 @@
-<controllers>
-<controller name="head_controller" type="HeadPanTiltControllerNode"> 
-    <controller name="head_pan_controller" topic="head_pan_controller" type="JointPositionController">
-      <joint name="head_pan_joint" >
-        <pid p="10.0" d="0.5" i="12.0" iClamp="0.5" />
-      </joint>
-    </controller>
-    
-    <controller name="head_tilt_controller" topic="head_tilt_controller" type="JointPositionController">
-      <joint name="head_tilt_joint" >
-        <pid p="16.4" d=".4" i="2.0" iClamp="0.1" />
-      </joint>
-    </controller>
-    
-</controller>    
-</controllers>

Modified: pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch	2009-07-15 20:45:27 UTC (rev 18883)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch	2009-07-15 20:46:17 UTC (rev 18884)
@@ -6,8 +6,10 @@
 
 <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/torso_lift_vel_controller.xml" output="screen" />
 
-<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/head_pan_tilt_controller.xml" output="screen" />
 
+<include file="$(find pr2_default_controllers)/head_position_controller.launch" />
+
+
 <!-- The robot pose EKF is launched with the base controller-->
 <include file="$(find robot_pose_ekf)/robot_pose_ekf.launch" />
 


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