Menu
▾
▴
[Personalrobots-commit] SF.net SVN: personalrobots:[19376] pkg/trunk
|
From: <is...@us...> - 2009-07-22 03:52:32
|
Revision: 19376
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=19376&view=rev
Author: isucan
Date: 2009-07-22 03:52:27 +0000 (Wed, 22 Jul 2009)
Log Message:
-----------
adding things to 3dnav_pr2 package
Modified Paths:
--------------
pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/larm.launch
pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/laser+stereo-perception.launch
pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/laser-perception.launch
pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/rarm.launch
pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/stereo-perception.launch
pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/manifest.xml
pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/src/simple.cpp
pkg/trunk/sandbox/3dnav_pr2/params/collision/collision_checks_both_arms.yaml
pkg/trunk/sandbox/3dnav_pr2/params/collision/collision_checks_left_arm.yaml
pkg/trunk/sandbox/3dnav_pr2/params/collision/collision_checks_right_arm.yaml
pkg/trunk/sandbox/3dnav_pr2/params/planning/planning.yaml
Added Paths:
-----------
pkg/trunk/sandbox/3dnav_pr2/launch/pr2_planning_environment.launch
pkg/trunk/sandbox/3dnav_pr2/params/
pkg/trunk/sandbox/3dnav_pr2/params/collision/
pkg/trunk/sandbox/3dnav_pr2/params/planning/
Removed Paths:
-------------
pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/old/
pkg/trunk/stacks/pr2/pr2_defs/collision/
pkg/trunk/stacks/pr2/pr2_defs/planning/
pkg/trunk/stacks/pr2/pr2_defs/pr2_planning_environment.launch
Modified: pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/larm.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/larm.launch 2009-07-22 03:32:28 UTC (rev 19375)
+++ pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/larm.launch 2009-07-22 03:52:27 UTC (rev 19376)
@@ -1,5 +1,5 @@
<launch>
- <include file="$(find pr2_defs)/pr2_planning_environment.launch" />
+ <include file="$(find 3dnav_pr2)/launch/pr2_planning_environment.launch" />
<include file="$(find pr2_ik)/pr2_ik_larm_node.launch"/>
<include file="$(find move_arm)/launch/move_larm.launch"/>
<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/l_arm_joint_trajectory_controller.xml" />
Modified: pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/laser+stereo-perception.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/laser+stereo-perception.launch 2009-07-22 03:32:28 UTC (rev 19375)
+++ pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/laser+stereo-perception.launch 2009-07-22 03:52:27 UTC (rev 19376)
@@ -1,7 +1,7 @@
<launch>
<!-- send additional description parameters -->
- <include file="$(find pr2_defs)/pr2_planning_environment.launch" />
+ <include file="$(find 3dnav_pr2)/launch/pr2_planning_environment.launch" />
<!-- start controller -->
<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/laser_tilt_controller.xml" />
Modified: pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/laser-perception.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/laser-perception.launch 2009-07-22 03:32:28 UTC (rev 19375)
+++ pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/laser-perception.launch 2009-07-22 03:52:27 UTC (rev 19376)
@@ -1,7 +1,7 @@
<launch>
<!-- send additional description parameters -->
- <include file="$(find pr2_defs)/pr2_planning_environment.launch" />
+ <include file="$(find 3dnav_pr2)/launch/pr2_planning_environment.launch" />
<!-- start controller -->
<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/laser_tilt_controller.xml" />
Modified: pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/rarm.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/rarm.launch 2009-07-22 03:32:28 UTC (rev 19375)
+++ pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/rarm.launch 2009-07-22 03:52:27 UTC (rev 19376)
@@ -1,5 +1,6 @@
<launch>
- <include file="$(find pr2_defs)/pr2_planning_environment.launch" />
+
+ <include file="$(find 3dnav_pr2)/launch/pr2_planning_environment.launch" />
<include file="$(find pr2_ik)/pr2_ik_rarm_node.launch"/>
<include file="$(find move_arm)/launch/move_rarm.launch"/>
Modified: pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/stereo-perception.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/stereo-perception.launch 2009-07-22 03:32:28 UTC (rev 19375)
+++ pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/stereo-perception.launch 2009-07-22 03:52:27 UTC (rev 19376)
@@ -1,6 +1,6 @@
<launch>
- <include file="$(find pr2_defs)/pr2_planning_environment.launch" />
+ <include file="$(find 3dnav_pr2)/launch/pr2_planning_environment.launch" />
<include file="$(find stereo_image_proc)/narrow_stereoproc.launch" />
<!-- remove points corresponding to known objects -->
Modified: pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/manifest.xml
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/manifest.xml 2009-07-22 03:32:28 UTC (rev 19375)
+++ pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/manifest.xml 2009-07-22 03:52:27 UTC (rev 19376)
@@ -5,31 +5,12 @@
<review status="na" notes=""/>
<url>http://pr.willowgarage.com/wiki</url>
- <depend package="laser_scan"/>
- <depend package="robot_self_filter"/>
- <depend package="point_cloud_assembler"/>
- <depend package="table_object_detector"/>
- <depend package="collision_map"/>
- <depend package="ompl_planning"/>
+ <depend package="3dnav_pr2"/>
- <depend package="pr2_msgs"/>
- <depend package="robot_msgs"/>
- <depend package="visualization_msgs" />
- <depend package="manipulation_msgs" />
- <depend package="motion_planning_msgs" />
- <depend package="motion_planning_srvs" />
- <depend package="tabletop_msgs" />
- <depend package="tabletop_srvs" />
- <depend package="recognition_lambertian" />
-
-<!-- <depend package="move_base" /> -->
-
- <depend package="move_arm" />
- <depend package="pr2_ik" />
-
<!--
<depend package="2dnav_pr2"/>
<depend package="pr2_gazebo"/>
<depend package="rviz"/>
-->
+
</package>
Modified: pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/src/simple.cpp
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/src/simple.cpp 2009-07-22 03:32:28 UTC (rev 19375)
+++ pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/src/simple.cpp 2009-07-22 03:52:27 UTC (rev 19376)
@@ -138,7 +138,7 @@
recognition_lambertian::FindObjectPoses::Response res;
ros::Publisher vmPub = nh.advertise<visualization_msgs::Marker>("visualization_marker", 10240);
- robot_actions::ActionClient<pr2_robot_actions::MoveArmGoal, pr2_robot_actions::MoveArmState, int32_t> move_arm("move_arm");
+ robot_actions::ActionClient<pr2_robot_actions::MoveArmGoal, pr2_robot_actions::MoveArmState, int32_t> move_arm("move_right_arm");
ros::ServiceClient client = nh.serviceClient<recognition_lambertian::FindObjectPoses>("table_top/find_object_poses");
if (client.call(req, res))
@@ -147,8 +147,11 @@
if (res.objects.size() > 0)
{
recognition_lambertian::TableTopObject obj = res.objects[0];
- ROS_INFO("point to grasp: %f %f %f", obj.object_pose.pose.position.x, obj.object_pose.pose.position.y, obj.object_pose.pose.position.z);
+ obj.grasp_pose.pose.position.x -= 0.16;
+ ROS_INFO("pose of object: %f %f %f", obj.object_pose.pose.position.x, obj.object_pose.pose.position.y, obj.object_pose.pose.position.z);
+ ROS_INFO("point to grasp: %f %f %f", obj.grasp_pose.pose.position.x, obj.grasp_pose.pose.position.y, obj.grasp_pose.pose.position.z);
+
mapping_msgs::ObjectInMap o1;
o1.header = obj.object_pose.header;
o1.id = "Part1";
@@ -189,8 +192,8 @@
sendPoint(vmPub, obj.grasp_pose.header, obj.grasp_pose.pose.position.x, obj.grasp_pose.pose.position.y, obj.grasp_pose.pose.position.z);
- if (move_arm.execute(goal, feedback, ros::Duration(60.0)) != robot_actions::SUCCESS)
- ROS_ERROR("failed achieving goal");
+ // if (move_arm.execute(goal, feedback, ros::Duration(60.0)) != robot_actions::SUCCESS)
+ // ROS_ERROR("failed achieving goal");
}
}
else
Copied: pkg/trunk/sandbox/3dnav_pr2/launch/pr2_planning_environment.launch (from rev 19374, pkg/trunk/stacks/pr2/pr2_defs/pr2_planning_environment.launch)
===================================================================
--- pkg/trunk/sandbox/3dnav_pr2/launch/pr2_planning_environment.launch (rev 0)
+++ pkg/trunk/sandbox/3dnav_pr2/launch/pr2_planning_environment.launch 2009-07-22 03:52:27 UTC (rev 19376)
@@ -0,0 +1,9 @@
+
+<launch>
+ <!-- send parameters for collision checking for PR2; this includes parameters for the self filter -->
+ <rosparam command="load" ns="robotdesc/pr2_collision" file="$(find 3dnav_pr2)/params/collision/collision_checks_both_arms.yaml" />
+
+ <!-- send parameters needed for motion planning -->
+ <rosparam command="load" ns="robotdesc/pr2_planning" file="$(find 3dnav_pr2)/params/planning/planning.yaml" />
+
+</launch>
Property changes on: pkg/trunk/sandbox/3dnav_pr2/launch/pr2_planning_environment.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/robot_descriptions/pr2/pr2_defs/pr2_planning_environment.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Property changes on: pkg/trunk/sandbox/3dnav_pr2/params/collision
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/robot_descriptions/pr2/pr2_defs/collision:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Modified: pkg/trunk/sandbox/3dnav_pr2/params/collision/collision_checks_both_arms.yaml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_defs/collision/collision_checks_both_arms.yaml 2009-07-22 03:12:32 UTC (rev 19374)
+++ pkg/trunk/sandbox/3dnav_pr2/params/collision/collision_checks_both_arms.yaml 2009-07-22 03:52:27 UTC (rev 19376)
@@ -91,13 +91,13 @@
## The padding to be added for the body parts the robot can see
-self_see_padd: 0.1
+self_see_padd: 0.05
## The scaling to be considered for the body parts the robot can see
self_see_scale: 1.0
## The padding for the robot body parts to be considered when collision checking with the environment
-robot_padd: 0.002
+robot_padd: 0.003
## The scaling for the robot body parts to be considered when collision checking with the environment
robot_scale: 1.0
Modified: pkg/trunk/sandbox/3dnav_pr2/params/collision/collision_checks_left_arm.yaml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_defs/collision/collision_checks_left_arm.yaml 2009-07-22 03:12:32 UTC (rev 19374)
+++ pkg/trunk/sandbox/3dnav_pr2/params/collision/collision_checks_left_arm.yaml 2009-07-22 03:52:27 UTC (rev 19376)
@@ -54,14 +54,14 @@
## The padding to be added for the body parts the robot can see
-self_see_padd: 0.1
+self_see_padd: 0.05
## The scaling to be considered for the body parts the robot can see
self_see_scale: 1.0
## The padding for the robot body parts to be considered when collision checking with the environment
-robot_padd: 0.005
+robot_padd: 0.003
## The scaling for the robot body parts to be considered when collision checking with the environment
-robot_scale: 1.1
+robot_scale: 1.0
Modified: pkg/trunk/sandbox/3dnav_pr2/params/collision/collision_checks_right_arm.yaml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_defs/collision/collision_checks_right_arm.yaml 2009-07-22 03:12:32 UTC (rev 19374)
+++ pkg/trunk/sandbox/3dnav_pr2/params/collision/collision_checks_right_arm.yaml 2009-07-22 03:52:27 UTC (rev 19376)
@@ -54,14 +54,14 @@
## The padding to be added for the body parts the robot can see
-self_see_padd: 0.1
+self_see_padd: 0.05
## The scaling to be considered for the body parts the robot can see
self_see_scale: 1.0
## The padding for the robot body parts to be considered when collision checking with the environment
-robot_padd: 0.005
+robot_padd: 0.003
## The scaling for the robot body parts to be considered when collision checking with the environment
-robot_scale: 1.1
+robot_scale: 1.0
Property changes on: pkg/trunk/sandbox/3dnav_pr2/params/planning
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/robot_descriptions/pr2/pr2_defs/planning:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Modified: pkg/trunk/sandbox/3dnav_pr2/params/planning/planning.yaml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_defs/planning/planning.yaml 2009-07-22 03:12:32 UTC (rev 19374)
+++ pkg/trunk/sandbox/3dnav_pr2/params/planning/planning.yaml 2009-07-22 03:52:27 UTC (rev 19376)
@@ -42,7 +42,7 @@
r_wrist_flex_link
r_wrist_roll_link
planner_configs:
- RRTkConfig2 SBLkConfig2 KPIECEkConfig1 KPIECEkConfig2r LBKPIECEkConfig2r
+ RRTkConfig2 SBLkConfig2 KPIECEkConfig1 KPIECEkConfig2l LBKPIECEkConfig2l
arms:
links:
@@ -73,6 +73,11 @@
planner_configs:
+ pRRTConfig1:
+ type: kinematic::pRRT
+ range: 0.75
+ thread_count: 2
+
RRTkConfig1:
type: kinematic::RRT
range: 0.75
Deleted: pkg/trunk/stacks/pr2/pr2_defs/pr2_planning_environment.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_defs/pr2_planning_environment.launch 2009-07-22 03:32:28 UTC (rev 19375)
+++ pkg/trunk/stacks/pr2/pr2_defs/pr2_planning_environment.launch 2009-07-22 03:52:27 UTC (rev 19376)
@@ -1,8 +0,0 @@
-
-<launch>
- <!-- send parameters for collision checking for PR2; this includes parameters for the self filter -->
- <rosparam command="load" ns="robotdesc/pr2_collision" file="$(find pr2_defs)/collision/collision_checks_both_arms.yaml" />
-
- <!-- send parameters needed for motion planning -->
- <rosparam command="load" ns="robotdesc/pr2_planning" file="$(find pr2_defs)/planning/planning.yaml" />
-</launch>
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
