[Personalrobots-commit] SF.net SVN: personalrobots:[18886] pkg/trunk/pr2/life_test

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

Revision: 18886
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18886&view=rev
Author:   mmwise
Date:     2009-07-15 21:03:21 +0000 (Wed, 15 Jul 2009)

Log Message:
-----------
changing to new head controller and getting rid of robot_msgs/JointCmd #1306

Modified Paths:
--------------
    pkg/trunk/pr2/life_test/head_test/impact_test/test_gui.launch
    pkg/trunk/pr2/life_test/head_test/life_test/life_test.launch
    pkg/trunk/pr2/life_test/head_test/life_test/test_controller.xml
    pkg/trunk/pr2/life_test/scripts/run_head_test.py

Modified: pkg/trunk/pr2/life_test/head_test/impact_test/test_gui.launch
===================================================================
--- pkg/trunk/pr2/life_test/head_test/impact_test/test_gui.launch	2009-07-15 20:48:43 UTC (rev 18885)
+++ pkg/trunk/pr2/life_test/head_test/impact_test/test_gui.launch	2009-07-15 21:03:21 UTC (rev 18886)
@@ -1,4 +1,4 @@
-l<launch>
+<launch>
   <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find life_test)/head_test/impact_test/head.xml'" />
 
 

Modified: pkg/trunk/pr2/life_test/head_test/life_test/life_test.launch
===================================================================
--- pkg/trunk/pr2/life_test/head_test/life_test/life_test.launch	2009-07-15 20:48:43 UTC (rev 18885)
+++ pkg/trunk/pr2/life_test/head_test/life_test/life_test.launch	2009-07-15 21:03:21 UTC (rev 18886)
@@ -2,6 +2,13 @@
   <!-- Runs the test on or off the test cart. -->
   <!-- May need to put in to to scripts folder -->
   <node pkg="life_test" type="run_head_test.py" />
+  
+  <group ns="head_controller" clear_params="true">
+     <param name="pan_link_name" type="string" value="head_pan_link" />
+     <param name="tilt_link_name" type="string" value="head_tilt_link" />
+     <param name="pan_output" type="string" value="head_pan_joint_position_controller" />
+     <param name="tilt_output" type="string" value="head_tilt_joint_position_controller" />
+  </group>
 
   <node pkg="mechanism_control" type="spawner.py" args="$(find life_test)/head_test/life_test/test_controller.xml" />
 

Modified: pkg/trunk/pr2/life_test/head_test/life_test/test_controller.xml
===================================================================
--- pkg/trunk/pr2/life_test/head_test/life_test/test_controller.xml	2009-07-15 20:48:43 UTC (rev 18885)
+++ pkg/trunk/pr2/life_test/head_test/life_test/test_controller.xml	2009-07-15 21:03:21 UTC (rev 18886)
@@ -1,25 +1,25 @@
-<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="2.5" d="0.5" i="12.0" iClamp="0.5" />
-      </joint>
-    </controller>
+<controller type="HeadPositionController" name="head_controller"/>
+
+<controller name="head_pan_joint_position_controller" type="JointPositionController">
+  <joint name="head_pan_joint" >
+    <pid p="2.5" 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="15" d="0.5" i="5" iClamp="1.0" />
-      </joint>
-    </controller>
+<controller name="head_tilt_joint_position_controller" type="JointPositionController">
+  <joint name="head_tilt_joint" >
+    <pid p="15" d="0.5" i="5" iClamp="1.0" />
+  </joint>
+</controller>
     
-</controller> 
 
+
 <controller name="laser_controller" topic="laser_controller" type="LaserScannerControllerNode">
     <filter smoothing_factor="0.1" />
     <joint name="laser_tilt_mount_joint">
       <pid p="12" i=".1" d="1" iClamp="0.5" />
     </joint>
-  </controller> 
+</controller> 
 
     
 </controllers>

Modified: pkg/trunk/pr2/life_test/scripts/run_head_test.py
===================================================================
--- pkg/trunk/pr2/life_test/scripts/run_head_test.py	2009-07-15 20:48:43 UTC (rev 18885)
+++ pkg/trunk/pr2/life_test/scripts/run_head_test.py	2009-07-15 21:03:21 UTC (rev 18886)
@@ -38,16 +38,26 @@
 from time import sleep
 import random
 import rospy
-from robot_msgs.msg import JointCmd
 
+from mechanism_msgs.msg import JointStates, JointState
+
 def point_head_client(pan, tilt):
 
-    head_angles.publish(JointCmd(['head_pan_joint', 'head_tilt_joint'],[0.0,0.0],[pan, tilt],[0.0, 0.0],[0.0, 0.0]))
+    ps = JointState()
+    ps.name = 'head_pan_joint'
+    ps.position = pan
+    ts = JointState()
+    ts.name ='head_tilt_joint'
+    ts.position = tilt
+    js = JointStates()
+    js.joints = [ps, ts]
+    head_angles.publish(js)
+
     sleep(0.5)
 
 if __name__ == "__main__":
 
-   head_angles = rospy.Publisher('head_controller/set_command_array', JointCmd)
+   head_angles = rospy.Publisher('head_controller/command', JointStates)
    rospy.init_node('head_commander', anonymous=True)
    sleep(1)
 


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