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[Personalrobots-commit] SF.net SVN: personalrobots:[19420] pkg/trunk
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From: <hsu...@us...> - 2009-07-22 19:22:20
|
Revision: 19420
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=19420&view=rev
Author: hsujohnhsu
Date: 2009-07-22 19:02:34 +0000 (Wed, 22 Jul 2009)
Log Message:
-----------
* replace parameter name "robotdesc/pr2" by "robot_description"
* use ros::NodeHandle().searchParam() when looking for robot_description
* update launch scripts
* rename package gazebo_robot_description to gazebo_worlds
* rename sub directories gazebo_worlds->worlds, gazebo_objects->objects
* update manifests and launch scripts
Modified Paths:
--------------
pkg/trunk/calibration/kinematic_calibration/src/add_calibration_data.cpp
pkg/trunk/calibration/kinematic_calibration/src/arm_phasespace_grabber.cpp
pkg/trunk/calibration/kinematic_calibration/src/run_chain_dumper.cpp
pkg/trunk/calibration/laser_cb_processing/src/pr2_tilt_laser_projector.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller_pos.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_arm_dynamics_controller.cpp
pkg/trunk/demos/2dnav_gazebo/doc.dox
pkg/trunk/demos/2dnav_gazebo/pr2-empty-amcl.launch
pkg/trunk/demos/2dnav_gazebo/pr2-empty-fake_localization.launch
pkg/trunk/demos/2dnav_gazebo/pr2-simple-fake_localization.launch
pkg/trunk/demos/2dnav_gazebo/pr2-wg-amcl.launch
pkg/trunk/demos/2dnav_gazebo/prototype1-simple-amcl.launch
pkg/trunk/demos/2dnav_gazebo/prototype1-wg-fake_localization.launch
pkg/trunk/demos/2dnav_pr2/rviz/move_base.vcg
pkg/trunk/demos/2dnav_pr2/rviz/move_base_local.vcg
pkg/trunk/demos/arm_gazebo/l_arm.launch
pkg/trunk/demos/arm_gazebo/l_gripper.launch
pkg/trunk/demos/arm_gazebo/manifest.xml
pkg/trunk/demos/arm_gazebo/r_arm.launch
pkg/trunk/demos/arm_gazebo/r_arm_grasping_demo.launch
pkg/trunk/demos/arm_gazebo/r_gripper.launch
pkg/trunk/demos/arm_gazebo/scripts/setparam.py
pkg/trunk/demos/arm_gazebo/scripts/test_launch_order.tcsh
pkg/trunk/demos/arm_gazebo/tests/r_arm_constraint.launch
pkg/trunk/demos/arm_gazebo/tests/r_arm_spacenav.launch
pkg/trunk/demos/door_demos_gazebo/door_defs/door_defs.xml
pkg/trunk/demos/door_demos_gazebo/door_defs/send_description.launch
pkg/trunk/demos/door_demos_gazebo/launch/door_only_test.launch
pkg/trunk/demos/door_demos_gazebo/launch/pr2_and_door.launch
pkg/trunk/demos/door_demos_gazebo/robots/door_only.xacro.xml
pkg/trunk/demos/erratic_gazebo/2dnav-gazebo-simple-fake_localization.xml
pkg/trunk/demos/erratic_gazebo/erratic.launch
pkg/trunk/demos/erratic_gazebo/manifest.xml
pkg/trunk/demos/examples_gazebo/dual_link.launch
pkg/trunk/demos/examples_gazebo/dual_link_defs/Makefile
pkg/trunk/demos/examples_gazebo/dual_link_defs/send_description.launch
pkg/trunk/demos/examples_gazebo/multi_link.launch
pkg/trunk/demos/examples_gazebo/multi_link_defs/Makefile
pkg/trunk/demos/examples_gazebo/multi_link_defs/send_description.launch
pkg/trunk/demos/examples_gazebo/simple_box.launch
pkg/trunk/demos/examples_gazebo/simple_cylinder.launch
pkg/trunk/demos/examples_gazebo/simple_rdf_examples/simple_cylinder.xml
pkg/trunk/demos/examples_gazebo/simple_sphere.launch
pkg/trunk/demos/examples_gazebo/single_link.launch
pkg/trunk/demos/examples_gazebo/single_link_defs/Makefile
pkg/trunk/demos/examples_gazebo/single_link_defs/send_description.launch
pkg/trunk/demos/examples_gazebo/table.launch
pkg/trunk/demos/examples_gazebo/table_defs/Makefile
pkg/trunk/demos/examples_gazebo/table_defs/send_description.launch
pkg/trunk/demos/plug_in_gazebo/launch/plug_outlet.launch
pkg/trunk/demos/plug_in_gazebo/launch/pr2_plug_outlet.launch
pkg/trunk/demos/plug_in_gazebo/plug_defs/send_description.launch
pkg/trunk/demos/plug_in_gazebo/robots/outlet_only.xacro.xml
pkg/trunk/demos/plug_in_gazebo/robots/plug_only.xacro.xml
pkg/trunk/demos/pr2_gazebo/coffee_cup.launch
pkg/trunk/demos/pr2_gazebo/cups.launch
pkg/trunk/demos/pr2_gazebo/cups2.launch
pkg/trunk/demos/pr2_gazebo/head_cart_simple.launch
pkg/trunk/demos/pr2_gazebo/manifest.xml
pkg/trunk/demos/pr2_gazebo/pr2.launch
pkg/trunk/demos/pr2_gazebo/prf.launch
pkg/trunk/demos/pr2_gazebo/prototype1.launch
pkg/trunk/demos/pr2_gazebo/prototype1_balcony_world.launch
pkg/trunk/demos/pr2_gazebo/prototype1_simple_office.launch
pkg/trunk/demos/pr2_gazebo/tables.launch
pkg/trunk/demos/pr2_gazebo/test_grasping.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/stereo-perception.launch
pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/old/gazebo/simple.world
pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_amcl_axis.launch
pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_axis.launch
pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_diagonal.launch
pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_odom.launch
pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_empty_rotation.launch
pkg/trunk/demos/test_2dnav_gazebo/test_2dnav_wg.launch
pkg/trunk/drivers/cam/camera_trigger_test/scripts/runmode0.sh
pkg/trunk/drivers/cam/camera_trigger_test/testmode0.launch
pkg/trunk/drivers/cam/camera_trigger_test/testmode1.launch
pkg/trunk/drivers/robot/pr2/fingertip_pressure/demo/real_hardware_sensor.launch
pkg/trunk/drivers/simulator/gazebo_plugin/doc.dox
pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/gazebo_mechanism_control.h
pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_mechanism_control.cpp
pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2factory.cpp
pkg/trunk/drivers/simulator/gazebo_plugin/src/xml2factory.cpp
pkg/trunk/drivers/simulator/test_gazebo_plugin/manifest.xml
pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/manifest.xml
pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.launch
pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/manifest.xml
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/manifest.xml
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.launch
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.launch
pkg/trunk/highlevel/move_arm/launch/arm_cmd_line.launch
pkg/trunk/highlevel/move_arm/launch/move_larm.launch
pkg/trunk/highlevel/move_arm/launch/move_rarm.launch
pkg/trunk/highlevel/plugs/plugs_core/rviz/full.vcg
pkg/trunk/highlevel/plugs/plugs_core/rviz/plugging_in.vcg
pkg/trunk/highlevel/test_executive_trex_pr2/wpc_gazebo.0/launch_gazebo_prototype1_tables.xml
pkg/trunk/highlevel/test_executive_trex_pr2/wpc_gazebo.0/launch_gazebo_prototype1_wg.xml
pkg/trunk/highlevel/test_executive_trex_pr2/wpc_gazebo.1/launch_gazebo_prototype1_tables.xml
pkg/trunk/highlevel/test_executive_trex_pr2/wpc_gazebo.1/launch_gazebo_prototype1_wg_no_x.xml
pkg/trunk/motion_planning/ompl_planning/motion_planning.launch
pkg/trunk/motion_planning/planning_environment/clear_known_objects.launch
pkg/trunk/motion_planning/planning_environment/display_planner_collision_model.launch
pkg/trunk/motion_planning/planning_environment/view_state_validity.launch
pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/launch/sbpl_arm_planner_node.launch
pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/src/sbpl_arm_planner_node.cpp
pkg/trunk/motion_planning/planning_research/sbpl_pm_wrapper/src/pm_wrapper.cpp
pkg/trunk/pr2/dynamic_verification/tests/wrist.launch
pkg/trunk/pr2/dynamic_verification/tests/wrist_gazebo.launch
pkg/trunk/pr2/life_test/arm_life_test/full_arm.launch
pkg/trunk/pr2/life_test/arm_life_test/test_gui.launch
pkg/trunk/pr2/life_test/arm_life_test/test_gui_cb.launch
pkg/trunk/pr2/life_test/arm_life_test/test_gui_cb_forearm.launch
pkg/trunk/pr2/life_test/arm_life_test/test_roll_gui.launch
pkg/trunk/pr2/life_test/caster_life_test/send_description.launch
pkg/trunk/pr2/life_test/caster_life_test/test_cart.launch
pkg/trunk/pr2/life_test/gripper_life_test/test_cart.launch
pkg/trunk/pr2/life_test/head_test/impact_test/test_cart.launch
pkg/trunk/pr2/life_test/head_test/impact_test/test_gui.launch
pkg/trunk/pr2/life_test/head_test/life_test/test_cart.launch
pkg/trunk/pr2/life_test/head_test/life_test/test_gui.launch
pkg/trunk/pr2/life_test/laser_tilt_test/impact_test/test_cart.launch
pkg/trunk/pr2/life_test/laser_tilt_test/life_test/test_cart.launch
pkg/trunk/pr2/life_test/pr2_etherCAT.launch
pkg/trunk/pr2/life_test/wrist_test/test_cart.launch
pkg/trunk/pr2/life_test/wrist_test/test_gui.launch
pkg/trunk/pr2/qualification/onboard/visualization/view.vcg
pkg/trunk/pr2/qualification/tests/caster_test/caster.launch
pkg/trunk/pr2/qualification/tests/caster_test/caster_alpha2.launch
pkg/trunk/pr2/qualification/tests/caster_test/view.vcg
pkg/trunk/pr2/qualification/tests/forearm_cam_test/ethercat.launch
pkg/trunk/pr2/qualification/tests/full_arm_test/full_arm.launch
pkg/trunk/pr2/qualification/tests/full_arm_test/view.vcg
pkg/trunk/pr2/qualification/tests/gripper_test/gripper.launch
pkg/trunk/pr2/qualification/tests/gripper_test/view.vcg
pkg/trunk/pr2/qualification/tests/head_test/head.launch
pkg/trunk/pr2/qualification/tests/head_test/head_alpha2.launch
pkg/trunk/pr2/qualification/tests/head_test/head_alpha2a.launch
pkg/trunk/pr2/qualification/tests/head_test/head_alpha2b.launch
pkg/trunk/pr2/qualification/tests/head_test/view.vcg
pkg/trunk/pr2/qualification/tests/laser_tilt_test/laser_tilt.launch
pkg/trunk/pr2/qualification/tests/laser_tilt_test/laser_tilt_alpha2.launch
pkg/trunk/pr2/qualification/tests/laser_tilt_test/view.vcg
pkg/trunk/pr2/qualification/tests/pr2_etherCAT.launch
pkg/trunk/pr2/qualification/tests/shoulder_test/shoulder.launch
pkg/trunk/pr2/qualification/tests/shoulder_test/shoulder_visualization.launch
pkg/trunk/pr2/qualification/tests/shoulder_test/view.vcg
pkg/trunk/pr2/qualification/tests/torso_lift_test/torso.launch
pkg/trunk/pr2/qualification/tests/torso_lift_test/view.vcg
pkg/trunk/pr2/qualification/tests/upperarm_flex_only_test/upperarm.launch
pkg/trunk/pr2/qualification/tests/upperarm_flex_only_test/upperarm_visualization.launch
pkg/trunk/pr2/qualification/tests/upperarm_flex_only_test/view.vcg
pkg/trunk/pr2/qualification/tests/upperarm_test/upperarm.launch
pkg/trunk/pr2/qualification/tests/upperarm_test/view.vcg
pkg/trunk/pr2/qualification/tests/wrist_test/view.vcg
pkg/trunk/pr2/qualification/tests/wrist_test/wrist.launch
pkg/trunk/pr2/qualification/tests/wrist_test/wrist_visualization.launch
pkg/trunk/robot_descriptions/gazebo_worlds/CMakeLists.txt
pkg/trunk/robot_descriptions/gazebo_worlds/launch/checker.launch
pkg/trunk/robot_descriptions/gazebo_worlds/launch/light.launch
pkg/trunk/robot_descriptions/gazebo_worlds/manifest.xml
pkg/trunk/robot_descriptions/gazebo_worlds/worlds/floorobj.world
pkg/trunk/robot_descriptions/gazebo_worlds/worlds/simple.world
pkg/trunk/robot_descriptions/gazebo_worlds/worlds/simple_erratic.world
pkg/trunk/robot_descriptions/gazebo_worlds/worlds/tables.world
pkg/trunk/robot_descriptions/gazebo_worlds/worlds/wg.world
pkg/trunk/robot_descriptions/pr2/pr2_configurations/arm_cart/full_arm.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_arm/init.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_arm/send_description.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/hca.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/hcb.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/hcc.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_laser_tilt/init.launch
pkg/trunk/sandbox/chomp_motion_planner/launch/chomp_node.launch
pkg/trunk/sandbox/chomp_motion_planner/launch/chomp_node_debug.launch
pkg/trunk/sandbox/dynamics_estimation/dynamics_estimation.launch
pkg/trunk/sandbox/dynamics_estimation/include/dynamics_estimation/dynamics_estimation_node.h
pkg/trunk/sandbox/dynamics_estimation/r_arm.launch
pkg/trunk/sandbox/dynamics_estimation/src/dynamics_estimation_node.cpp
pkg/trunk/sandbox/fk_node/launch/fk_node.launch
pkg/trunk/sandbox/pr2_gripper_controller/launch/gripper.launch
pkg/trunk/sandbox/pr2_gripper_controller/launch/pr2_etherCAT.launch
pkg/trunk/sandbox/teleop_anti_collision/launch/test_teleop_anti_collision.xml
pkg/trunk/stacks/mechanism/robot_state_publisher/src/state_publisher.cpp
pkg/trunk/stacks/pr2/pr2_alpha/pre_ethercat_reset.launch
pkg/trunk/stacks/pr2/pr2_alpha/prf_ethercat_reset.launch
pkg/trunk/stacks/pr2/pr2_alpha/prf_manip.launch
pkg/trunk/stacks/pr2/pr2_alpha/prf_sim.launch
pkg/trunk/stacks/pr2/pr2_alpha/prg_ethercat_reset.launch
pkg/trunk/stacks/pr2/pr2_alpha/send_description.launch
pkg/trunk/stacks/pr2/pr2_defs/pr2_description.launch
pkg/trunk/stacks/simulators/gazebo/launch/balcony_world.launch
pkg/trunk/stacks/simulators/gazebo/launch/camera_world.launch
pkg/trunk/stacks/simulators/gazebo/launch/empty_world.launch
pkg/trunk/stacks/simulators/gazebo/launch/empty_world_no_x.launch
pkg/trunk/stacks/simulators/gazebo/launch/office_world.launch
pkg/trunk/stacks/simulators/gazebo/launch/scan_world.launch
pkg/trunk/stacks/simulators/gazebo/launch/simple_world.launch
pkg/trunk/stacks/simulators/gazebo/launch/slide_world.launch
pkg/trunk/stacks/simulators/gazebo/launch/wg_world.launch
pkg/trunk/stacks/simulators/gazebo/quick_gazebo.sh
pkg/trunk/stacks/simulators/gazebo/setup.bash
pkg/trunk/stacks/simulators/gazebo/setup.tcsh
pkg/trunk/stacks/trex/trex_pr2/cfg/launch_gazebo.xml
pkg/trunk/stacks/trex/trex_pr2/cfg/launch_gazebo_obstacle.xml
pkg/trunk/stacks/trex/trex_pr2/cfg/launch_gazebo_prototype1.xml
pkg/trunk/stacks/trex/trex_ros/deprecated/wpc_gazebo.0/launch_gazebo_prototype1_tables.xml
pkg/trunk/stacks/trex/trex_ros/deprecated/wpc_gazebo.0/launch_gazebo_prototype1_wg.xml
pkg/trunk/stacks/trex/trex_ros/deprecated/wpc_gazebo.1/launch_gazebo_prototype1_tables.xml
pkg/trunk/stacks/visualization/rviz/configs/pr2.vcg
pkg/trunk/util/pr2_ik/mainpage.dox
pkg/trunk/util/pr2_ik/pr2_ik_controller.launch
pkg/trunk/util/pr2_ik/src/pr2_ik_solver.cpp
pkg/trunk/util/pr2_ik/test_pr2_ik.xml
pkg/trunk/util/robot_self_filter/mainpage.dox
pkg/trunk/util/robot_self_filter/self_filter.launch
pkg/trunk/util/self_watch/self_watch.launch
Added Paths:
-----------
pkg/trunk/robot_descriptions/gazebo_worlds/
pkg/trunk/robot_descriptions/gazebo_worlds/objects/
pkg/trunk/robot_descriptions/gazebo_worlds/worlds/
Removed Paths:
-------------
pkg/trunk/robot_descriptions/gazebo_robot_description/
pkg/trunk/robot_descriptions/gazebo_worlds/gazebo_objects/
pkg/trunk/robot_descriptions/gazebo_worlds/gazebo_worlds/
pkg/trunk/robot_descriptions/gazebo_worlds/world/
Modified: pkg/trunk/calibration/kinematic_calibration/src/add_calibration_data.cpp
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/src/add_calibration_data.cpp 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/calibration/kinematic_calibration/src/add_calibration_data.cpp 2009-07-22 19:02:34 UTC (rev 19420)
@@ -35,6 +35,7 @@
#include <utility>
#include "ros/node.h"
+#include "ros/node_handle.h"
#include "mechanism_model/robot.h"
#include "tinyxml/tinyxml.h"
#include "hardware_interface/hardware_interface.h"
@@ -64,16 +65,23 @@
printf("Getting robot description from param server...") ;
fflush(stdout) ;
string robot_desc ;
+
+ // hack: create a node handle to do a searchParam for robot_description
+ // to do this properly, switch to node handles api
+ ros::NodeHandle node_handle;
+ std::string pr2_urdf_param_name;
+ node_handle.searchParam("robot_description",pr2_urdf_param_name);
+
bool success ;
- success = node_->getParam("robotdesc/pr2", robot_desc) ;
+ success = node_->getParam(pr2_urdf_param_name, robot_desc) ;
if (!success)
{
- printf("ERROR: Could not access robot_desc/pr2 from param server\n") ;
+ printf("ERROR: Could not access robot_description from param server\n") ;
}
else
printf("Success!\n") ;
- printf("Parsing robotdesc/pr2...") ;
+ printf("Parsing robot_description...") ;
fflush(stdout) ;
TiXmlDocument doc ;
doc.Parse(robot_desc.c_str()) ;
Modified: pkg/trunk/calibration/kinematic_calibration/src/arm_phasespace_grabber.cpp
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/src/arm_phasespace_grabber.cpp 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/calibration/kinematic_calibration/src/arm_phasespace_grabber.cpp 2009-07-22 19:02:34 UTC (rev 19420)
@@ -35,6 +35,7 @@
#include <stdio.h>
#include "ros/node.h"
+#include "ros/node_handle.h"
#include "boost/thread/mutex.hpp"
#include "mechanism_msgs/MechanismState.h"
#include "mocap_msgs/MocapSnapshot.h"
@@ -137,7 +138,14 @@
{
robot_kinematics::RobotKinematics robot_kinematics ;
string robot_desc ;
- param("robotdesc/pr2", robot_desc, string("")) ;
+
+ // hack: create a node handle to do a searchParam for robot_description
+ // to do this properly, switch to node handles api
+ ros::NodeHandle node_handle;
+ std::string pr2_urdf_param_name;
+ node_handle.searchParam("robot_description",pr2_urdf_param_name);
+
+ param(pr2_urdf_param_name, robot_desc, string("")) ;
printf("RobotDesc.length() = %u\n", (unsigned int)robot_desc.length()) ;
robot_kinematics.loadString(robot_desc.c_str()) ;
Modified: pkg/trunk/calibration/kinematic_calibration/src/run_chain_dumper.cpp
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/src/run_chain_dumper.cpp 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/calibration/kinematic_calibration/src/run_chain_dumper.cpp 2009-07-22 19:02:34 UTC (rev 19420)
@@ -33,6 +33,7 @@
#include <string>
#include "ros/node.h"
+#include "ros/node_handle.h"
#include "kinematic_calibration/chain_dumper.h"
#include "mechanism_model/robot.h"
#include "tinyxml/tinyxml.h"
@@ -50,7 +51,14 @@
fflush(stdout) ;
string robot_desc ;
bool success ;
- success = node.getParam("robotdesc/pr2", robot_desc) ;
+
+ // hack: create a node handle to do a searchParam for robot_description
+ // to do this properly, switch to node handles api
+ ros::NodeHandle node_handle;
+ std::string pr2_urdf_param_name;
+ node_handle.searchParam("robot_description",pr2_urdf_param_name);
+
+ success = node.getParam(pr2_urdf_param_name, robot_desc) ;
if (!success)
{
printf("ERROR: Could not access robot_desc/pr2 from param server\n") ;
@@ -69,7 +77,7 @@
{
bool success ;
- printf("Parsing robotdesc/pr2...") ;
+ printf("Parsing robot_description...") ;
fflush(stdout) ;
TiXmlDocument doc ;
doc.Parse(robot_desc.c_str()) ;
Modified: pkg/trunk/calibration/laser_cb_processing/src/pr2_tilt_laser_projector.cpp
===================================================================
--- pkg/trunk/calibration/laser_cb_processing/src/pr2_tilt_laser_projector.cpp 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/calibration/laser_cb_processing/src/pr2_tilt_laser_projector.cpp 2009-07-22 19:02:34 UTC (rev 19420)
@@ -32,6 +32,7 @@
#include <string>
#include "ros/node.h"
+#include "ros/node_handle.h"
#include "robot_msgs/PointCloud.h"
#include "mechanism_model/robot.h"
@@ -56,7 +57,16 @@
ROS_DEBUG("Getting robot description from param server...") ;
string robot_desc ;
bool success ;
- success = node_->getParam("robotdesc/pr2", robot_desc) ;
+
+
+ // hack: create a node handle to do a searchParam for robot_description
+ // to do this properly, switch to node handles api
+ ros::NodeHandle node_handle;
+ std::string pr2_urdf_param_name;
+ node_handle.searchParam("robot_description",pr2_urdf_param_name);
+
+
+ success = node_->getParam(pr2_urdf_param_name, robot_desc) ;
if (!success)
{
ROS_ERROR("ERROR: Could not access robot_desc/pr2 from param server\n") ;
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller.cpp 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller.cpp 2009-07-22 19:02:34 UTC (rev 19420)
@@ -36,6 +36,7 @@
#include <angles/angles.h>
#include <control_toolbox/filters.h>
#include "ros/node.h"
+#include "ros/node_handle.h"
#define NUM_TRANSFORMS 2
#define EPS 1e-5
@@ -207,14 +208,20 @@
robot_desc::URDF::Link *link;
std::string joint_name;
+ // hack: create a node handle to do a searchParam for robot_description
+ // to do this properly, switch to node handles api
+ ros::NodeHandle node_handle;
+ std::string pr2_urdf_param;
+ node_handle.searchParam("robot_description",pr2_urdf_param);
+
std::string xml_content;
- (ros::g_node)->getParam("robotdesc/pr2",xml_content);
+ (ros::g_node)->getParam(pr2_urdf_param,xml_content);
- // wait for robotdesc/pr2 on param server
+ // wait for robot_description on param server
while(!urdf_model_.loadString(xml_content.c_str()))
{
- ROS_WARN("base controller is waiting for robotdesc/pr2 in param server. run roslaunch send.xml or similar.");
- (ros::g_node)->getParam("robotdesc/pr2",xml_content);
+ ROS_WARN("base controller is waiting for robot_description in param server. run roslaunch send.xml or similar.");
+ (ros::g_node)->getParam("robot_description",xml_content);
usleep(100000);
}
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller_pos.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller_pos.cpp 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller_pos.cpp 2009-07-22 19:02:34 UTC (rev 19420)
@@ -38,6 +38,7 @@
#include <angles/angles.h>
#include <std_msgs/String.h>
#include "ros/node.h"
+#include "ros/node_handle.h"
#define NUM_TRANSFORMS 2
#define EPS 1e-5
@@ -167,16 +168,22 @@
robot_desc::URDF::Link *link;
std::string joint_name;
+ // hack: create a node handle to do a searchParam for robot_description
+ // to do this properly, switch to node handles api
+ ros::NodeHandle node_handle;
+ std::string pr2_urdf_param;
+ node_handle.searchParam("robot_description",pr2_urdf_param);
+
std::string xml_content;
- (ros::g_node)->getParam("robotdesc/pr2",xml_content);
+ (ros::g_node)->getParam(pr2_urdf_param,xml_content);
robot_state_ = robot_state;
- // wait for robotdesc/pr2 on param server
+ // wait for robot_description on param server
while(!urdf_model_.loadString(xml_content.c_str()))
{
- ROS_INFO("WARNING: base controller is waiting for robotdesc/pr2 in param server. run roslaunch send.xml or similar.");
- (ros::g_node)->getParam("robotdesc/pr2",xml_content);
+ ROS_INFO("WARNING: base controller is waiting for robot_description in param server. run roslaunch send.xml or similar.");
+ (ros::g_node)->getParam("robot_description",xml_content);
usleep(100000);
}
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_arm_dynamics_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_arm_dynamics_controller.cpp 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_arm_dynamics_controller.cpp 2009-07-22 19:02:34 UTC (rev 19420)
@@ -38,6 +38,8 @@
#include "realtime_tools/realtime_publisher.h"
#include "std_msgs/String.h"
+#include "ros/node_handle.h"
+
// Math utils
#include <angles/angles.h>
@@ -343,8 +345,15 @@
std::string pr2Contents;
std::string pr2_uncompensated;
- node->getParam("robotdesc/pr2_uncompensated", pr2_uncompensated);
- node->getParam("robotdesc/pr2", pr2Contents);
+ // hack: create a node handle to do a searchParam for robot_description
+ // to do this properly, switch to node handles api
+ ros::NodeHandle node_handle;
+ std::string pr2_uncompensated_urdf_param_name;
+ node_handle.searchParam("robot_description_uncompensated",pr2_uncompensated_urdf_param_name);
+ node->getParam(pr2_uncompensated_urdf_param_name, pr2_uncompensated);
+ std::string pr2_urdf_param_name;
+ node_handle.searchParam("robot_description",pr2_urdf_param_name);
+ node->getParam(pr2_urdf_param_name, pr2Contents);
c_->pr2_kin_.loadString(pr2Contents.c_str());
c_->pr2_kin_uncompensated_.loadString(pr2_uncompensated.c_str());
Modified: pkg/trunk/demos/2dnav_gazebo/doc.dox
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/doc.dox 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/2dnav_gazebo/doc.dox 2009-07-22 19:02:34 UTC (rev 19420)
@@ -26,7 +26,7 @@
<!-- start up robot -->
<include file="$(find pr2_gazebo)/pr2_simple.launch"/>
<!-- load map -->
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/map3.png 0.1" respawn="false" output="screen" />
+ <node pkg="map_server" type="map_server" args="$(find gazebo_worlds)/Media/materials/textures/map3.png 0.1" respawn="false" output="screen" />
<!-- Tug Arms For Navigation -->
<node pkg="pr2_mechanism_controllers" type="tuckarm.py" args="l" output="screen" />
<node pkg="pr2_mechanism_controllers" type="tuckarm.py" args="r" output="screen" />
Modified: pkg/trunk/demos/2dnav_gazebo/pr2-empty-amcl.launch
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/pr2-empty-amcl.launch 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/2dnav_gazebo/pr2-empty-amcl.launch 2009-07-22 19:02:34 UTC (rev 19420)
@@ -11,7 +11,7 @@
<node pkg="pr2_mechanism_controllers" type="tuckarm.py" args="r" output="screen" />
<!-- load map -->
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/map_blank.png 0.1" respawn="true" machine="three" />
+ <node pkg="map_server" type="map_server" args="$(find gazebo_worlds)/Media/materials/textures/map_blank.png 0.1" respawn="true" machine="three" />
<!-- nav-stack -->
<include file="$(find 2dnav_gazebo)/2dnav-stack-amcl.launch"/>
Modified: pkg/trunk/demos/2dnav_gazebo/pr2-empty-fake_localization.launch
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/pr2-empty-fake_localization.launch 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/2dnav_gazebo/pr2-empty-fake_localization.launch 2009-07-22 19:02:34 UTC (rev 19420)
@@ -11,7 +11,7 @@
<node pkg="pr2_mechanism_controllers" type="tuckarm.py" args="r" output="screen" />
<!-- load map -->
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/map_blank.png 0.1" respawn="true" machine="three" />
+ <node pkg="map_server" type="map_server" args="$(find gazebo_worlds)/Media/materials/textures/map_blank.png 0.1" respawn="true" machine="three" />
<!-- nav-stack -->
<include file="$(find 2dnav_gazebo)/2dnav-stack-fake_localization.launch"/>
Modified: pkg/trunk/demos/2dnav_gazebo/pr2-simple-fake_localization.launch
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/pr2-simple-fake_localization.launch 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/2dnav_gazebo/pr2-simple-fake_localization.launch 2009-07-22 19:02:34 UTC (rev 19420)
@@ -10,7 +10,7 @@
<node pkg="pr2_mechanism_controllers" type="tuckarm.py" args="b" output="screen" />
<!-- load map -->
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/map3.png 0.1" respawn="true" machine="three" />
+ <node pkg="map_server" type="map_server" args="$(find gazebo_worlds)/Media/materials/textures/map3.png 0.1" respawn="true" machine="three" />
<!-- nav-stack -->
<include file="$(find 2dnav_gazebo)/2dnav-stack-fake_localization.launch"/>
Modified: pkg/trunk/demos/2dnav_gazebo/pr2-wg-amcl.launch
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/pr2-wg-amcl.launch 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/2dnav_gazebo/pr2-wg-amcl.launch 2009-07-22 19:02:34 UTC (rev 19420)
@@ -7,7 +7,7 @@
<include file="$(find pr2_gazebo)/pr2.launch"/>
<!-- load map -->
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/willowMap.png 0.1" respawn="true" machine="three" />
+ <node pkg="map_server" type="map_server" args="$(find gazebo_worlds)/Media/materials/textures/willowMap.png 0.1" respawn="true" machine="three" />
<!-- Tug Arms For Navigation -->
<node pkg="pr2_mechanism_controllers" type="tuckarm.py" args="l" output="screen" />
Modified: pkg/trunk/demos/2dnav_gazebo/prototype1-simple-amcl.launch
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/prototype1-simple-amcl.launch 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/2dnav_gazebo/prototype1-simple-amcl.launch 2009-07-22 19:02:34 UTC (rev 19420)
@@ -7,7 +7,7 @@
<include file="$(find pr2_gazebo)/prototype1.launch"/>
<!-- load map -->
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/map3.png 0.1" respawn="true" machine="three" />
+ <node pkg="map_server" type="map_server" args="$(find gazebo_worlds)/Media/materials/textures/map3.png 0.1" respawn="true" machine="three" />
<!-- nav-stack -->
<include file="$(find 2dnav_gazebo)/2dnav-stack-amcl.launch"/>
Modified: pkg/trunk/demos/2dnav_gazebo/prototype1-wg-fake_localization.launch
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/prototype1-wg-fake_localization.launch 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/2dnav_gazebo/prototype1-wg-fake_localization.launch 2009-07-22 19:02:34 UTC (rev 19420)
@@ -7,7 +7,7 @@
<include file="$(find pr2_gazebo)/prototype1.launch"/>
<!-- load map -->
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/willowMap.png 0.1" respawn="true" machine="three" />
+ <node pkg="map_server" type="map_server" args="$(find gazebo_worlds)/Media/materials/textures/willowMap.png 0.1" respawn="true" machine="three" />
<!-- nav-stack -->
<include file="$(find 2dnav_gazebo)/2dnav-stack-fake_localization.launch"/>
Modified: pkg/trunk/demos/2dnav_pr2/rviz/move_base.vcg
===================================================================
--- pkg/trunk/demos/2dnav_pr2/rviz/move_base.vcg 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/2dnav_pr2/rviz/move_base.vcg 2009-07-22 19:02:34 UTC (rev 19420)
@@ -175,7 +175,7 @@
Robot\ Model.Collision\ Enabled=0
Robot\ Model.Enabled=1
Robot\ Model.Mechanism\ Topic=
-Robot\ Model.Robot\ Description=robotdesc/pr2
+Robot\ Model.Robot\ Description=robot_description
Robot\ Model.Update\ Rate=0.1
Robot\ Model.Visual\ Enabled=1
Robot\:\ Robot\ Model\ Link\ base_laserShow\ Axes=0
Modified: pkg/trunk/demos/2dnav_pr2/rviz/move_base_local.vcg
===================================================================
--- pkg/trunk/demos/2dnav_pr2/rviz/move_base_local.vcg 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/2dnav_pr2/rviz/move_base_local.vcg 2009-07-22 19:02:34 UTC (rev 19420)
@@ -175,7 +175,7 @@
Robot\ Model.Collision\ Enabled=0
Robot\ Model.Enabled=1
Robot\ Model.Mechanism\ Topic=mechanism_state
-Robot\ Model.Robot\ Description=robotdesc/pr2
+Robot\ Model.Robot\ Description=robot_description
Robot\ Model.Update\ Rate=0.1
Robot\ Model.Visual\ Enabled=1
Robot\:\ Robot\ Model\ Link\ base_laserShow\ Axes=0
Modified: pkg/trunk/demos/arm_gazebo/l_arm.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/l_arm.launch 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/arm_gazebo/l_arm.launch 2009-07-22 19:02:34 UTC (rev 19420)
@@ -1,14 +1,10 @@
<launch>
- <!--
- Run a PR2 left arm in simulation
- -->
- <include file="$(find gazebo)/launch/empty_world.launch" />
<!-- send pr2_l_arm.xml to param server -->
- <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/l_arm.xacro.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/l_arm.xacro.xml'" />
- <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen"/>
+ <!-- push robot_description to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
<!-- start arm controller -->
<!--
Modified: pkg/trunk/demos/arm_gazebo/l_gripper.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/l_gripper.launch 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/arm_gazebo/l_gripper.launch 2009-07-22 19:02:34 UTC (rev 19420)
@@ -1,14 +1,10 @@
<launch>
- <!--
- Run a PR2 left arm in simulation
- -->
- <include file="$(find gazebo)/launch/empty_world.launch" />
<!-- send pr2_l_arm.xml to param server -->
- <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/l_gripper.xacro.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/l_gripper.xacro.xml'" />
- <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen"/>
+ <!-- push robot_description to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
<!-- start arm controller -->
<!--
Modified: pkg/trunk/demos/arm_gazebo/manifest.xml
===================================================================
--- pkg/trunk/demos/arm_gazebo/manifest.xml 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/arm_gazebo/manifest.xml 2009-07-22 19:02:34 UTC (rev 19420)
@@ -8,7 +8,7 @@
<depend package="teleop_arm_keyboard"/>
<depend package="rviz"/>
<depend package="pr2_ogre" />
- <depend package="gazebo_robot_description"/>
+ <depend package="gazebo_worlds"/>
<depend package="pr2_defs"/>
<depend package="pr2_default_controllers"/>
<depend package="robot_mechanism_controllers"/>
Modified: pkg/trunk/demos/arm_gazebo/r_arm.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/r_arm.launch 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/arm_gazebo/r_arm.launch 2009-07-22 19:02:34 UTC (rev 19420)
@@ -1,14 +1,10 @@
<launch>
- <!--
- Run a PR2 right arm in simulation
- -->
- <include file="$(find gazebo)/launch/empty_world.launch" />
<!-- send pr2_r_arm.xml to param server -->
- <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_arm.xacro.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_arm.xacro.xml'" />
- <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen"/>
+ <!-- push robot_description to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
<!-- start arm controller -->
<!--
Modified: pkg/trunk/demos/arm_gazebo/r_arm_grasping_demo.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/r_arm_grasping_demo.launch 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/arm_gazebo/r_arm_grasping_demo.launch 2009-07-22 19:02:34 UTC (rev 19420)
@@ -1,5 +1,4 @@
<launch>
- <include file="$(find gazebo)/launch/empty_world.launch" />
<!-- Robot state publisher -->
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
@@ -8,10 +7,10 @@
</node>
<!-- send pr2_r_arm.xml to param server -->
- <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_arm.xacro.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_arm.xacro.xml'" />
- <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen"/>
+ <!-- push robot_description to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
<!-- start arm controller -->
<!--
@@ -37,8 +36,8 @@
-->
<!--include file="$(find arm_gazebo)/tests/debug_plot.launch"/-->
- <param name="robotdesc/table" command="$(find xacro)/xacro.py '$(find examples_gazebo)/table_defs/table_defs.xml'" />
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/table 0 0 0.01 0 0 0 table_model" respawn="false" output="screen" />
+ <param name="table_description" command="$(find xacro)/xacro.py '$(find examples_gazebo)/table_defs/table_defs.xml'" />
+ <node pkg="gazebo_plugin" type="urdf2factory" args="table_description 0 0 0.01 0 0 0 table_model" respawn="false" output="screen" />
<include file="$(find pr2_gazebo)/coffee_cup.launch" />
</launch>
Modified: pkg/trunk/demos/arm_gazebo/r_gripper.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/r_gripper.launch 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/arm_gazebo/r_gripper.launch 2009-07-22 19:02:34 UTC (rev 19420)
@@ -1,14 +1,10 @@
<launch>
- <!--
- Run a PR2 left arm in simulation
- -->
- <include file="$(find gazebo)/launch/empty_world.launch" />
<!-- send pr2_r_arm.xml to param server -->
- <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_gripper.xacro.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_gripper.xacro.xml'" />
- <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen"/>
+ <!-- push robot_description to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
<!-- start arm controller -->
<!--
Modified: pkg/trunk/demos/arm_gazebo/scripts/setparam.py
===================================================================
--- pkg/trunk/demos/arm_gazebo/scripts/setparam.py 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/arm_gazebo/scripts/setparam.py 2009-07-22 19:02:34 UTC (rev 19420)
@@ -1,3 +1,3 @@
#!/usr/bin/env python
import roslib.scriptutil as s
-s.get_param_server().setParam('/', '/robotdesc/pr2', open('pr2_arm.xml').read())
+s.get_param_server().setParam('/', 'robot_description', open('pr2_arm.xml').read())
Modified: pkg/trunk/demos/arm_gazebo/scripts/test_launch_order.tcsh
===================================================================
--- pkg/trunk/demos/arm_gazebo/scripts/test_launch_order.tcsh 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/arm_gazebo/scripts/test_launch_order.tcsh 2009-07-22 19:02:34 UTC (rev 19420)
@@ -7,18 +7,17 @@
echo "----------------starting gazebo"
source `rospack find gazebo`/setup.tcsh
-gazebo `rospack find gazebo_robot_description`/gazebo_worlds/empty.world &
+gazebo `rospack find gazebo_worlds`/gazebo_worlds/empty.world &
sleep 5
echo "----------------roslaunch xml"
`rospack find xacro`/xacro.py `rospack find pr2_defs`/robots/r_arm.xacro.xml > pr2_arm.xml
-#$ROS_ROOT/bin/rosparam set robotdesc/pr2
python ./setparam.py
echo "----------------urdf2factory"
-`rospack find gazebo_plugin`/urdf2factory "robotdesc/pr2"
+`rospack find gazebo_plugin`/urdf2factory "robot_description"
echo "----------------spawn controller"
`rospack find mechanism_control`/scripts/mech.py sp `rospack find arm_gazebo`/r_arm_default_controller.xml
Modified: pkg/trunk/demos/arm_gazebo/tests/r_arm_constraint.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/tests/r_arm_constraint.launch 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/arm_gazebo/tests/r_arm_constraint.launch 2009-07-22 19:02:34 UTC (rev 19420)
@@ -15,10 +15,10 @@
-->
<!-- send pr2_r_arm.xml to param server -->
- <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_arm.xacro.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_arm.xacro.xml'" />
- <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen"/>
+ <!-- push robot_description to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
<!-- start arm controller -->
Modified: pkg/trunk/demos/arm_gazebo/tests/r_arm_spacenav.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/tests/r_arm_spacenav.launch 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/arm_gazebo/tests/r_arm_spacenav.launch 2009-07-22 19:02:34 UTC (rev 19420)
@@ -8,17 +8,17 @@
</node>
<!-- send pr2_r_arm.xml to param server -->
- <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_arm.xacro.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_arm.xacro.xml'" />
- <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen"/>
+ <!-- push robot_description to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
<!-- start arm controller -->
<!-- tried to revive, copied into arm_gazebo from arm_life_test, but controller breaks. -->
<include file="$(find arm_gazebo)/teleop_arm.launch"/>
<node pkg="spacenav_node" type="spacenav_node" args="" respawn="false" output="screen" />
- <param name="robotdesc/table" command="$(find xacro)/xacro.py '$(find examples_gazebo)/table_defs/table_defs.xml'" />
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/table" respawn="false" output="screen" />
+ <param name="table_description" command="$(find xacro)/xacro.py '$(find examples_gazebo)/table_defs/table_defs.xml'" />
+ <node pkg="gazebo_plugin" type="urdf2factory" args="table_description" respawn="false" output="screen" />
</launch>
Modified: pkg/trunk/demos/door_demos_gazebo/door_defs/door_defs.xml
===================================================================
--- pkg/trunk/demos/door_demos_gazebo/door_defs/door_defs.xml 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/door_demos_gazebo/door_defs/door_defs.xml 2009-07-22 19:02:34 UTC (rev 19420)
@@ -427,7 +427,7 @@
<controller:gazebo_mechanism_control name="door_mechanism_control" plugin="libgazebo_mechanism_control.so">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
- <robotParam>robotdesc/doorbot</robotParam>
+ <robotParam>door_description</robotParam>
<interface:audio name="gazebo_mechanism_control_dummy_iface" />
</controller:gazebo_mechanism_control>
-->
Modified: pkg/trunk/demos/door_demos_gazebo/door_defs/send_description.launch
===================================================================
--- pkg/trunk/demos/door_demos_gazebo/door_defs/send_description.launch 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/door_demos_gazebo/door_defs/send_description.launch 2009-07-22 19:02:34 UTC (rev 19420)
@@ -1,5 +1,5 @@
<launch>
- <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find door_demos_gazebo)/robots/door_only.xacro.xml'" />
+ <param name="door_description" command="$(find xacro)/xacro.py '$(find door_demos_gazebo)/robots/door_only.xacro.xml'" />
</launch>
Modified: pkg/trunk/demos/door_demos_gazebo/launch/door_only_test.launch
===================================================================
--- pkg/trunk/demos/door_demos_gazebo/launch/door_only_test.launch 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/door_demos_gazebo/launch/door_only_test.launch 2009-07-22 19:02:34 UTC (rev 19420)
@@ -3,10 +3,10 @@
<include file="$(find gazebo)/launch/empty_world.launch"/>
<!-- send door_only.xml to param server -->
- <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find door_demos_gazebo)/robots/door_only.xacro.xml'" />
+ <param name="door_description" command="$(find xacro)/xacro.py '$(find door_demos_gazebo)/robots/door_only.xacro.xml'" />
- <!-- push robotdesc/door to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" /> <!-- load default arm controller -->
+ <!-- push door_description to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="door_description" respawn="false" output="screen" /> <!-- load default arm controller -->
<!-- load door controllers -->
<node pkg="mechanism_control" type="spawner.py" args="$(find door_demos_gazebo)/door_defs/door_controllers.xml" respawn="false" output="screen" />
Modified: pkg/trunk/demos/door_demos_gazebo/launch/pr2_and_door.launch
===================================================================
--- pkg/trunk/demos/door_demos_gazebo/launch/pr2_and_door.launch 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/door_demos_gazebo/launch/pr2_and_door.launch 2009-07-22 19:02:34 UTC (rev 19420)
@@ -4,8 +4,8 @@
<include file="$(find gazebo)/launch/empty_world.launch"/>
<!-- load pr2 -->
- <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
<!-- Robot state publisher -->
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
@@ -15,8 +15,8 @@
<node pkg="pr2_mechanism_controllers" type="tuckarm.py" args="l" respawn="false" output="screen" />
<!-- load door -->
- <param name="robotdesc/door" command="$(find xacro)/xacro.py '$(find door_demos_gazebo)/door_defs/door_defs.xml'" />
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/door 0 0 0 0 0 0 doorbot" respawn="false" output="screen" />
+ <param name="door_description" command="$(find xacro)/xacro.py '$(find door_demos_gazebo)/door_defs/door_defs.xml'" />
+ <node pkg="gazebo_plugin" type="urdf2factory" args="door_description 0 0 0 0 0 0 doorbot" respawn="false" output="screen" />
<!-- load door and handle controllers
<node pkg="mechanism_control" type="spawner.py" args="$(find door_demos_gazebo)/door_defs/door_controllers.xml" respawn="false" output="screen" />
@@ -26,7 +26,7 @@
<!-- uncomment for visualization -->
<!--
<node pkg="rviz" type="rviz" output="screen"/>
- <include file="$(find gazebo_robot_description)/launch/light.launch" />
+ <include file="$(find gazebo_worlds)/launch/light.launch" />
-->
</launch>
Modified: pkg/trunk/demos/door_demos_gazebo/robots/door_only.xacro.xml
===================================================================
--- pkg/trunk/demos/door_demos_gazebo/robots/door_only.xacro.xml 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/door_demos_gazebo/robots/door_only.xacro.xml 2009-07-22 19:02:34 UTC (rev 19420)
@@ -26,7 +26,7 @@
</controller:ros_time>
<controller:gazebo_mechanism_control name="gazebo_mechanism_control_door" plugin="libgazebo_mechanism_control.so">
- <robotParam>robotdesc/pr2</robotParam>
+ <robotParam>door_description</robotParam>
<mechanismTopic>mechanism_state/pr2</mechanismTopic>
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
Modified: pkg/trunk/demos/erratic_gazebo/2dnav-gazebo-simple-fake_localization.xml
===================================================================
--- pkg/trunk/demos/erratic_gazebo/2dnav-gazebo-simple-fake_localization.xml 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/erratic_gazebo/2dnav-gazebo-simple-fake_localization.xml 2009-07-22 19:02:34 UTC (rev 19420)
@@ -37,7 +37,7 @@
</node>
<!-- load map -->
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/map3.png 0.1" respawn="false" output="screen" />
+ <node pkg="map_server" type="map_server" args="$(find gazebo_worlds)/Media/materials/textures/map3.png 0.1" respawn="false" output="screen" />
<!-- for visualization -->
<!--node pkg="rviz" type="rviz" respawn="false" output="screen" /-->
Modified: pkg/trunk/demos/erratic_gazebo/erratic.launch
===================================================================
--- pkg/trunk/demos/erratic_gazebo/erratic.launch 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/erratic_gazebo/erratic.launch 2009-07-22 19:02:34 UTC (rev 19420)
@@ -1,17 +1,14 @@
<launch>
<!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/pr2/erratic_defs/robots for full erratic -->
- <!-- start gazebo -->
- <include file="$(find gazebo)/launch/simple_world.launch" />
-
<!-- Create a transform sender for linking these frames. -->
<node pkg="tf" type="transform_sender" args="0 0 0 0 0 0 base_footprint base_link 40" />
<!-- send pr2.xml to param server -->
- <param name="robotdesc/erratic" command="$(find xacro)/xacro.py '$(find erratic_defs)/robots/erratic.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find erratic_defs)/robots/erratic.xml'" />
- <!-- push robotdesc/erratic to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/erratic" respawn="false" output="screen" />
+ <!-- push robot_description to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
<!-- load controllers -->
<node pkg="gazebo_plugin" type="ros_diffdrive" respawn="true" />
Modified: pkg/trunk/demos/erratic_gazebo/manifest.xml
===================================================================
--- pkg/trunk/demos/erratic_gazebo/manifest.xml 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/erratic_gazebo/manifest.xml 2009-07-22 19:02:34 UTC (rev 19420)
@@ -5,7 +5,7 @@
<review status="na" notes=""/>
<url>http://pr.willowgarage.com/wiki/Simulator</url>
<depend package="gazebo_plugin"/>
- <depend package="gazebo_robot_description"/>
+ <depend package="gazebo_worlds"/>
<depend package="erratic_defs"/>
<depend package="robot_mechanism_controllers"/>
Modified: pkg/trunk/demos/examples_gazebo/dual_link.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/dual_link.launch 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/examples_gazebo/dual_link.launch 2009-07-22 19:02:34 UTC (rev 19420)
@@ -1,11 +1,9 @@
<launch>
- <include file="$(find gazebo)/launch/empty_world.launch" />
-
<!-- send dual_link.xml to param server -->
- <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find examples_gazebo)/dual_link_defs/dual_link.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find examples_gazebo)/dual_link_defs/dual_link.xml'" />
- <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" />
+ <!-- push robot_description to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
<!--node pkg="mechanism_control" type="mech.py" args="sp $(find examples_gazebo)/dual_link_defs/controllers_dual_link.xml" respawn="false" output="screen" /-->
<!--node pkg="robot_mechanism_controllers" type="control.py" args="set test_controller 0.5" respawn="false" output="screen" /--> <!-- open gripper .5 radians -->
Modified: pkg/trunk/demos/examples_gazebo/dual_link_defs/Makefile
===================================================================
--- pkg/trunk/demos/examples_gazebo/dual_link_defs/Makefile 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/examples_gazebo/dual_link_defs/Makefile 2009-07-22 19:02:34 UTC (rev 19420)
@@ -1,6 +1,6 @@
XACRO = `rospack find xacro`/xacro.py
-URDF2GAZEBO = `rospack find gazebo_robot_description`/urdf2gazebo
-MODEL_FILE = `rospack find gazebo_robot_description`
+URDF2GAZEBO = `rospack find gazebo_plugin`/bin/urdf2file
+MODEL_FILE = `rospack find examples_gazebo`
ROBOT = dual_link
Modified: pkg/trunk/demos/examples_gazebo/dual_link_defs/send_description.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/dual_link_defs/send_description.launch 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/examples_gazebo/dual_link_defs/send_description.launch 2009-07-22 19:02:34 UTC (rev 19420)
@@ -1,5 +1,5 @@
<launch>
- <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find examples_gazebo)/dual_link_defs/dual_link.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find examples_gazebo)/dual_link_defs/dual_link.xml'" />
</launch>
Modified: pkg/trunk/demos/examples_gazebo/multi_link.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/multi_link.launch 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/examples_gazebo/multi_link.launch 2009-07-22 19:02:34 UTC (rev 19420)
@@ -1,11 +1,9 @@
<launch>
- <include file="$(find gazebo)/launch/empty_world.launch" />
-
<!-- send multi_link.xml to param server -->
- <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find examples_gazebo)/multi_link_defs/multi_link.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find examples_gazebo)/multi_link_defs/multi_link.xml'" />
- <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" />
+ <!-- push robot_description to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
<node pkg="mechanism_control" type="mech.py" args="sp $(find examples_gazebo)/multi_link_defs/controllers_multi_link_zero_gains.xml" respawn="false" output="screen" />
<!--node pkg="robot_mechanism_controllers" type="control.py" args="set test_controller 0.5" respawn="false" output="screen" /--> <!-- open gripper .5 radians -->
Modified: pkg/trunk/demos/examples_gazebo/multi_link_defs/Makefile
===================================================================
--- pkg/trunk/demos/examples_gazebo/multi_link_defs/Makefile 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/examples_gazebo/multi_link_defs/Makefile 2009-07-22 19:02:34 UTC (rev 19420)
@@ -1,6 +1,6 @@
XACRO = `rospack find xacro`/xacro.py
-URDF2GAZEBO = `rospack find gazebo_robot_description`/urdf2gazebo
-MODEL_FILE = `rospack find gazebo_robot_description`
+URDF2GAZEBO = `rospack find gazebo_plugin`/bin/urdf2file
+MODEL_FILE = `rospack find examples_gazebo`
ROBOT = multi_link
Modified: pkg/trunk/demos/examples_gazebo/multi_link_defs/send_description.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/multi_link_defs/send_description.launch 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/examples_gazebo/multi_link_defs/send_description.launch 2009-07-22 19:02:34 UTC (rev 19420)
@@ -1,5 +1,5 @@
<launch>
- <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find examples_gazebo)/multi_link_defs/multi_link.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find examples_gazebo)/multi_link_defs/multi_link.xml'" />
</launch>
Modified: pkg/trunk/demos/examples_gazebo/simple_box.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/simple_box.launch 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/examples_gazebo/simple_box.launch 2009-07-22 19:02:34 UTC (rev 19420)
@@ -1,9 +1,6 @@
<launch>
- <include file="$(find gazebo)/launch/empty_world.launch" />
-
<!-- send simple_box.xml to param server -->
<param name="simple_box" command="$(find xacro)/xacro.py '$(find examples_gazebo)/simple_rdf_examples/simple_box.xml'" />
<node pkg="gazebo_plugin" type="urdf2factory" args="simple_box" respawn="false" output="screen" />
-
</launch>
Modified: pkg/trunk/demos/examples_gazebo/simple_cylinder.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/simple_cylinder.launch 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/examples_gazebo/simple_cylinder.launch 2009-07-22 19:02:34 UTC (rev 19420)
@@ -1,9 +1,6 @@
<launch>
- <include file="$(find gazebo)/launch/empty_world.launch" />
-
<!-- send simple_cylinder.xml to param server -->
<param name="simple_cylinder" command="$(find xacro)/xacro.py '$(find examples_gazebo)/simple_rdf_examples/simple_cylinder.xml'" />
<node pkg="gazebo_plugin" type="urdf2factory" args="simple_cylinder" respawn="false" output="screen" />
-
</launch>
Modified: pkg/trunk/demos/examples_gazebo/simple_rdf_examples/simple_cylinder.xml
===================================================================
--- pkg/trunk/demos/examples_gazebo/simple_rdf_examples/simple_cylinder.xml 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/examples_gazebo/simple_rdf_examples/simple_cylinder.xml 2009-07-22 19:02:34 UTC (rev 19420)
@@ -2,7 +2,7 @@
<link name="my_cylinder">
<parent name="world" />
<!-- initial pose of my_cylinder in the parent frame coordiantes -->
- <origin xyz="0 0 2" rpy="0 1.57 0" />
+ <origin xyz="0 0 2" rpy="0 1.57 0.5" />
<joint name="my_cylinder_joint" type="revolute" >
<!-- axis is in the parent link frame coordintates -->
<axis xyz="0 1 0" />
Modified: pkg/trunk/demos/examples_gazebo/simple_sphere.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/simple_sphere.launch 2009-07-22 18:57:21 UTC (rev 19419)
+++ pkg/trunk/demos/examples_gazebo/simple_sphere.launch 2009-07-22 19:02:34 UTC (r...
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