[Personalrobots-commit] SF.net SVN: personalrobots:[19403] pkg/trunk

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Revision: 19403
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=19403&view=rev
Author:   hsujohnhsu
Date:     2009-07-22 14:44:02 +0000 (Wed, 22 Jul 2009)

Log Message:
-----------
update head stereo hztests due to changes in pr2.xacro.xml to use wide_stereo and narrow_stereo.

Modified Paths:
--------------
    pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_image.launch
    pkg/trunk/stacks/pr2/pr2_defs/defs/head_defs.xml

Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_image.launch
===================================================================

--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_image.launch	2009-07-22 09:07:13 UTC (rev 19402)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_image.launch	2009-07-22 14:44:02 UTC (rev 19403)
@@ -13,18 +13,17 @@
   <node pkg="pr2_mechanism_controllers" type="send_laser_traj_cmd_ms2.py" args="laser_tilt_controller" />
 
   <!-- start stereo -->
-  <include file="$(find stereo_image_proc)/stereoproc.launch" />
+  <include file="$(find stereo_image_proc)/wide_stereoproc.launch" />
+  <include file="$(find stereo_image_proc)/narrow_stereoproc.launch" />
 
   <!-- Run hztest -->
   <!-- Test for publication rate of 'stereo/cloud' topic -->
-  <test test-name="hztest_test_stereo_cloud" pkg="rostest" type="hztest" time-limit="60" name="stereo_cloud_test">
+  <test test-name="hztest_test_narrow_stereo_cloud" pkg="rostest" type="hztest" time-limit="60" name="narrow_stereo_cloud_test">
     <!-- The topic to listen for -->
-    <param name="topic" value="/stereo/cloud" />
-    <!-- The expected publication rate [Hz].  Set to 0.0 to only check that
-    at least one message is received. -->
+    <param name="topic" value="/narrow_stereo/cloud" />
+    <!-- The expected publication rate [Hz].  Set to 0.0 to only check that at least one message is received. -->
     <param name="hz" value="20.0" />
-    <!-- Acceptable error in the publication rate [Hz].  Ignored if hz is set
-    to 0.0. -->
+    <!-- Acceptable error in the publication rate [Hz].  Ignored if hz is set to 0.0. -->
     <param name="hzerror" value="1.0" />
     <!-- Time to listen for [seconds] -->
     <param name="test_duration" value="2.0" />
@@ -36,33 +35,67 @@
     <param name="check_intervals" value="false" />    
   </test>
 
-  <!-- Test for publication of 'left stereo camera image publish rate' topic -->
-  <test test-name="hztest_test_stereo_left_image" pkg="rostest" type="hztest" time-limit="60" name="stereo_left_image_test">
-    <param name="topic" value="/stereo/left/image" />
+  <!-- Test for publication of 'left narrow_stereo camera image publish rate' topic -->
+  <test test-name="hztest_test_narrow_stereo_left_image" pkg="rostest" type="hztest" time-limit="60" name="narrow_stereo_left_image_test">
+    <param name="topic" value="/narrow_stereo/left/image" />
     <param name="hz" value="20.0" />
     <param name="hzerror" value="1.0" />
     <param name="test_duration" value="2.0" />
     <param name="check_intervals" value="false" />    
   </test>
 
-  <!-- Test for publication of 'left stereo camera image publish rate' topic -->
-  <test test-name="hztest_test_stereo_right_image" pkg="rostest" type="hztest" time-limit="60" name="stereo_right_image_test">
-    <param name="topic" value="/stereo/right/image" />
+  <!-- Test for publication of 'right narrow_stereo camera image publish rate' topic -->
+  <test test-name="hztest_test_narrow_stereo_right_image" pkg="rostest" type="hztest" time-limit="60" name="narrow_stereo_right_image_test">
+    <param name="topic" value="/narrow_stereo/right/image" />
     <param name="hz" value="20.0" />
     <param name="hzerror" value="1.0" />
     <param name="test_duration" value="2.0" />
     <param name="check_intervals" value="false" />    
   </test>
 
-  <!-- Test for publication of 'raw_stereo' topic. -->
-  <test test-name="hztest_test_raw_stereo" pkg="rostest" type="hztest" time-limit="50" name="raw_stereo_test">
-    <!-- Note how we use a different parameter namespace and node name
-    for this test (raw_stereo_test vs. scan_test). -->
-    <param name="topic" value="/stereo/raw_stereo" />
+  <!-- Test for publication of narrow 'raw_stereo' topic. -->
+  <test test-name="hztest_test_narrow_raw_stereo" pkg="rostest" type="hztest" time-limit="50" name="narrow_raw_stereo_test">
+    <param name="topic" value="/narrow_stereo/raw_stereo" />
     <param name="hz" value="20.0" />
     <param name="hzerror" value="1.0" />
     <param name="test_duration" value="2.0" />
     <param name="check_intervals" value="false" />
   </test>
 
+  <!-- Run hztest -->
+  <test test-name="hztest_test_wide_stereo_cloud" pkg="rostest" type="hztest" time-limit="60" name="wide_stereo_cloud_test">
+    <param name="topic" value="/wide_stereo/cloud" />
+    <param name="hz" value="20.0" />
+    <param name="hzerror" value="1.0" />
+    <param name="test_duration" value="2.0" />
+    <param name="check_intervals" value="false" />    
+  </test>
+
+  <!-- Test for publication of 'left wide_stereo camera image publish rate' topic -->
+  <test test-name="hztest_test_wide_stereo_left_image" pkg="rostest" type="hztest" time-limit="60" name="wide_stereo_left_image_test">
+    <param name="topic" value="/wide_stereo/left/image" />
+    <param name="hz" value="20.0" />
+    <param name="hzerror" value="1.0" />
+    <param name="test_duration" value="2.0" />
+    <param name="check_intervals" value="false" />    
+  </test>
+
+  <!-- Test for publication of 'right wide_stereo camera image publish rate' topic -->
+  <test test-name="hztest_test_wide_stereo_right_image" pkg="rostest" type="hztest" time-limit="60" name="wide_stereo_right_image_test">
+    <param name="topic" value="/wide_stereo/right/image" />
+    <param name="hz" value="20.0" />
+    <param name="hzerror" value="1.0" />
+    <param name="test_duration" value="2.0" />
+    <param name="check_intervals" value="false" />    
+  </test>
+
+  <!-- Test for publication of wide 'raw_stereo' topic. -->
+  <test test-name="hztest_test_wide_raw_stereo" pkg="rostest" type="hztest" time-limit="50" name="wide_raw_stereo_test">
+    <param name="topic" value="/wide_stereo/raw_stereo" />
+    <param name="hz" value="20.0" />
+    <param name="hzerror" value="1.0" />
+    <param name="test_duration" value="2.0" />
+    <param name="check_intervals" value="false" />
+  </test>
+
 </launch>

Modified: pkg/trunk/stacks/pr2/pr2_defs/defs/head_defs.xml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_defs/defs/head_defs.xml	2009-07-22 09:07:13 UTC (rev 19402)
+++ pkg/trunk/stacks/pr2/pr2_defs/defs/head_defs.xml	2009-07-22 14:44:02 UTC (rev 19403)
@@ -220,11 +220,11 @@
     
     <!-- Wide camera is on robot right (hca1), narrow on left (hca2)? -->
     <!-- 15mm offset from center needs check with CAD -->
-    <stereo_camera parent="${name}_link" name="${name}_wide" >
+    <stereo_camera parent="${name}_link" name="wide_stereo" >
       <origin xyz="0 -0.015 0" rpy="0 0 0" />
     </stereo_camera>
 
-    <stereo_camera parent="${name}_link" name="${name}_narrow" >
+    <stereo_camera parent="${name}_link" name="narrow_stereo" >
       <origin xyz="0 0.015 0" rpy="0 0 0" />
     </stereo_camera>
   </macro>


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