[Personalrobots-commit] SF.net SVN: personalrobots:[19078] pkg/trunk

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

Revision: 19078
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=19078&view=rev
Author:   isucan
Date:     2009-07-17 01:15:35 +0000 (Fri, 17 Jul 2009)

Log Message:
-----------
setting names for ik nodes

Modified Paths:
--------------
    pkg/trunk/highlevel/move_arm/launch/move_larm.launch
    pkg/trunk/highlevel/move_arm/launch/move_rarm.launch
    pkg/trunk/util/pr2_ik/pr2_ik_larm_node.launch
    pkg/trunk/util/pr2_ik/pr2_ik_rarm_node.launch

Modified: pkg/trunk/highlevel/move_arm/launch/move_larm.launch
===================================================================
--- pkg/trunk/highlevel/move_arm/launch/move_larm.launch	2009-07-17 01:07:15 UTC (rev 19077)
+++ pkg/trunk/highlevel/move_arm/launch/move_larm.launch	2009-07-17 01:15:35 UTC (rev 19078)
@@ -5,8 +5,8 @@
     <remap from="collision_map" to="collision_map_occ" />
     <remap from="collision_map_update" to="collision_map_occ_update" />
 
-    <remap from="arm_ik" to="pr2_ik_node/ik_service" />	
-    <remap from="arm_ik_query" to="pr2_ik_node/ik_query" />
+    <remap from="arm_ik" to="pr2_ik_left_arm/ik_service" />	
+    <remap from="arm_ik_query" to="pr2_ik_left_arm/ik_query" />
     
     <remap from="controller_start"  to="l_arm_joint_trajectory_controller/TrajectoryStart" />
     <remap from="controller_query"  to="l_arm_joint_trajectory_controller/TrajectoryQuery" />

Modified: pkg/trunk/highlevel/move_arm/launch/move_rarm.launch
===================================================================
--- pkg/trunk/highlevel/move_arm/launch/move_rarm.launch	2009-07-17 01:07:15 UTC (rev 19077)
+++ pkg/trunk/highlevel/move_arm/launch/move_rarm.launch	2009-07-17 01:15:35 UTC (rev 19078)
@@ -5,8 +5,8 @@
     <remap from="collision_map" to="collision_map_occ" />
     <remap from="collision_map_update" to="collision_map_occ_update" />
 
-    <remap from="arm_ik" to="pr2_ik_node/ik_service" />	
-    <remap from="arm_ik_query" to="pr2_ik_node/ik_query" />
+    <remap from="arm_ik" to="pr2_ik_right_arm/ik_service" />	
+    <remap from="arm_ik_query" to="pr2_ik_right_arm/ik_query" />
     
     <remap from="controller_start"  to="r_arm_joint_trajectory_controller/TrajectoryStart" />
     <remap from="controller_query"  to="r_arm_joint_trajectory_controller/TrajectoryQuery" />

Modified: pkg/trunk/util/pr2_ik/pr2_ik_larm_node.launch
===================================================================
--- pkg/trunk/util/pr2_ik/pr2_ik_larm_node.launch	2009-07-17 01:07:15 UTC (rev 19077)
+++ pkg/trunk/util/pr2_ik/pr2_ik_larm_node.launch	2009-07-17 01:15:35 UTC (rev 19078)
@@ -1,5 +1,5 @@
 <launch>
-  <node pkg="pr2_ik" type="pr2_ik_node">    
+  <node pkg="pr2_ik" type="pr2_ik_node" name="pr2_ik_left_arm">    
    <param name="tip_name" value="l_wrist_roll_link" />     
    <param name="root_name" value="torso_lift_link" />  
   </node>

Modified: pkg/trunk/util/pr2_ik/pr2_ik_rarm_node.launch
===================================================================
--- pkg/trunk/util/pr2_ik/pr2_ik_rarm_node.launch	2009-07-17 01:07:15 UTC (rev 19077)
+++ pkg/trunk/util/pr2_ik/pr2_ik_rarm_node.launch	2009-07-17 01:15:35 UTC (rev 19078)
@@ -1,5 +1,5 @@
 <launch>
-  <node pkg="pr2_ik" type="pr2_ik_node">    
+  <node pkg="pr2_ik" type="pr2_ik_node" name="pr2_ik_right_arm">    
    <param name="tip_name" value="r_wrist_roll_link" />     
    <param name="root_name" value="torso_lift_link" />  
   </node>


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