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[Personalrobots-commit] SF.net SVN: personalrobots:[19526] pkg/trunk/sandbox/person_data
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From: <goo...@us...> - 2009-07-23 21:08:53
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Revision: 19526
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=19526&view=rev
Author: goodfellow
Date: 2009-07-23 21:08:43 +0000 (Thu, 23 Jul 2009)
Log Message:
-----------
Completed data collection setup
Added offline testing system to make sure recording stopping and starting work.
(Everything but the recording stopping/starting has been tested on the robot though)
Modified Paths:
--------------
pkg/trunk/sandbox/person_data/CMakeLists.txt
pkg/trunk/sandbox/person_data/person_data.launch
pkg/trunk/sandbox/person_data/src/joylistener.cpp
pkg/trunk/sandbox/person_data/startRecording.sh
pkg/trunk/sandbox/person_data/stopRecording.launch
pkg/trunk/sandbox/person_data/stopRecording.sh
Added Paths:
-----------
pkg/trunk/sandbox/person_data/data_collector_record_dummy.launch
pkg/trunk/sandbox/person_data/joylistener_dummy.cpp
pkg/trunk/sandbox/person_data/launch_dummy.sh
pkg/trunk/sandbox/person_data/person_data_dummy.launch
pkg/trunk/sandbox/person_data/src/headhack.cpp
pkg/trunk/sandbox/person_data/src/joyemu.cpp
pkg/trunk/sandbox/person_data/src/joylistener_dummy.cpp
pkg/trunk/sandbox/person_data/src/manual.cpp
pkg/trunk/sandbox/person_data/src/named.cpp
pkg/trunk/sandbox/person_data/startRecordingDummy.launch
pkg/trunk/sandbox/person_data/startRecordingDummy.sh
pkg/trunk/sandbox/person_data/stopRecordingDummy.launch
pkg/trunk/sandbox/person_data/stopRecordingDummy.sh
pkg/trunk/sandbox/person_data/teleop_joystick.launch
pkg/trunk/sandbox/person_data/test.launch
Modified: pkg/trunk/sandbox/person_data/CMakeLists.txt
===================================================================
--- pkg/trunk/sandbox/person_data/CMakeLists.txt 2009-07-23 21:03:45 UTC (rev 19525)
+++ pkg/trunk/sandbox/person_data/CMakeLists.txt 2009-07-23 21:08:43 UTC (rev 19526)
@@ -32,3 +32,8 @@
rospack_add_executable(talker src/talker.cpp)
rospack_add_executable(debugger src/debugger.cpp)
rospack_add_executable(joylistener src/joylistener.cpp)
+rospack_add_executable(joylistener_dummy src/joylistener_dummy.cpp)
+rospack_add_executable(manual src/manual.cpp)
+rospack_add_executable(named src/named.cpp)
+rospack_add_executable(headhack src/headhack.cpp)
+rospack_add_executable(joyemu src/joyemu.cpp)
Added: pkg/trunk/sandbox/person_data/data_collector_record_dummy.launch
===================================================================
--- pkg/trunk/sandbox/person_data/data_collector_record_dummy.launch (rev 0)
+++ pkg/trunk/sandbox/person_data/data_collector_record_dummy.launch 2009-07-23 21:08:43 UTC (rev 19526)
@@ -0,0 +1,4 @@
+<launch>
+ <node pkg="topic_tools" type="mux" args="/person_dummy_data_muxed /person_dummy_data"/>
+ <node pkg="rosrecord" type="rosrecord" args="-f /tmp/person_data_dummy /person_dummy_data_muxed"/>
+</launch>
Copied: pkg/trunk/sandbox/person_data/joylistener_dummy.cpp (from rev 19500, pkg/trunk/sandbox/person_data/src/joylistener.cpp)
===================================================================
--- pkg/trunk/sandbox/person_data/joylistener_dummy.cpp (rev 0)
+++ pkg/trunk/sandbox/person_data/joylistener_dummy.cpp 2009-07-23 21:08:43 UTC (rev 19526)
@@ -0,0 +1,122 @@
+//Author: Ian Goodfellow
+//When deadman switch is not pressed and head switch is pressed,
+//button 0 stops recording and button 2 starts recording
+//Assumes that recording is started initially
+
+#include <ros/ros.h>
+#include <std_msgs/String.h>
+#include "joy/Joy.h"
+#include <string>
+
+const static int headButton = 6;
+const static int deadmanButton = 4;
+const static int recordButton = 2;
+const static int stopButton = 0;
+
+static bool recording = true;
+static bool headButtonPressed = false;
+static bool deadmanButtonPressed = false;
+
+ros::Publisher debug_pub;
+
+void IA3N_INFO(const char * msg)
+{
+ //std_msgs::String rmsg;
+ //rmsg.data = std::string(msg);
+ //debug_pub.publish(rmsg);
+ ROS_INFO(msg);
+}
+
+void startRecording()
+{
+ FILE * result = popen("bash `rospack find person_data`/startRecording.sh","r");
+ fclose(result);
+ recording = true;
+}
+
+void stopRecording()
+{
+ FILE * result = popen("bash `rospack find person_data`/stopRecording.sh","r");
+ fclose(result);
+ recording = false;
+}
+
+
+
+void joyCallback(const joy::Joy::ConstPtr & msg)
+{
+ //IA3N_INFO("Received joystick message!");
+
+ int n = msg->get_buttons_size();
+
+ //messages are sized so that they are just long enough to include the last 1
+
+
+ if (headButton < n && msg->buttons[headButton])
+ {
+ //IA3N_INFO("Head button pushed down");
+ headButtonPressed = true;
+ }
+ else
+ {
+ //IA3N_INFO("Head button released");
+ headButtonPressed = false;
+ }
+
+ if (deadmanButton < n && msg->buttons[deadmanButton])
+ {
+ //IA3N_INFO("Deadman button pushed down");
+ deadmanButtonPressed = true;
+ }
+ else
+ {
+ //IA3N_INFO("Deadman button released");
+ deadmanButtonPressed = false;
+ }
+
+
+ if (headButtonPressed && ! deadmanButtonPressed)
+ {
+ if (recordButton < n && msg->buttons[recordButton])
+ {
+ if (!recording)
+ {
+ IA3N_INFO("Restarted recording");
+ startRecording();
+ }
+ else
+ {
+ IA3N_INFO("You are already recording!");
+ }
+ }
+
+ if (stopButton < n && msg->buttons[stopButton])
+ {
+ if (recording)
+ {
+ IA3N_INFO("Stopped recording");
+ stopRecording();
+ }
+ else
+ {
+ IA3N_INFO("You have already stopped recording");
+ }
+ }
+ }
+
+
+ //for ( int i = 0; i < n; i++)
+ //{
+ // if (msg->buttons[i])
+ // IA3N_INFO("Button %d pressed",i);
+ //}
+}
+
+int main(int argc, char ** argv)
+{
+ ros::init(argc, argv, "joylistener");
+ ros::NodeHandle n;
+ debug_pub = n.advertise<std_msgs::String>("ia3n_debug",100);
+ ros::Subscriber chatter_sub = n.subscribe("joy",100,joyCallback);
+ ros::spin();
+}
Property changes on: pkg/trunk/sandbox/person_data/joylistener_dummy.cpp
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/sandbox/person_data/src/joylistener.cpp:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Added: pkg/trunk/sandbox/person_data/launch_dummy.sh
===================================================================
--- pkg/trunk/sandbox/person_data/launch_dummy.sh (rev 0)
+++ pkg/trunk/sandbox/person_data/launch_dummy.sh 2009-07-23 21:08:43 UTC (rev 19526)
@@ -0,0 +1,2 @@
+#dummy version of launch.sh for offline testing
+namedlaunch person_data_dummy.launch
Modified: pkg/trunk/sandbox/person_data/person_data.launch
===================================================================
--- pkg/trunk/sandbox/person_data/person_data.launch 2009-07-23 21:03:45 UTC (rev 19525)
+++ pkg/trunk/sandbox/person_data/person_data.launch 2009-07-23 21:08:43 UTC (rev 19526)
@@ -1,8 +1,11 @@
<launch>
<node pkg="person_data" type="joylistener" output="screen"/>
+<node pkg ="person_data" type="headhack" output="screen" />
+<!-- for some reason putting joylistener after the other launch files broke it,
+and putting headhack after them makes roslaunch not find it! -->
<include file="$(find person_data)/data_collector_record.launch" />
<include file="$(find person_data)/truly_passive.launch" />
-<include file="$(find pr2_alpha)/teleop_joystick.launch" />
+<include file="$(find person_data)/teleop_joystick.launch" />
</launch>
Copied: pkg/trunk/sandbox/person_data/person_data_dummy.launch (from rev 19500, pkg/trunk/sandbox/person_data/person_data.launch)
===================================================================
--- pkg/trunk/sandbox/person_data/person_data_dummy.launch (rev 0)
+++ pkg/trunk/sandbox/person_data/person_data_dummy.launch 2009-07-23 21:08:43 UTC (rev 19526)
@@ -0,0 +1,11 @@
+<launch>
+<!-- dummy version of person_data.launch for offline testing -->
+<node pkg="person_data" type="joylistener_dummy" output="screen"/>
+
+<!-- for some reason putting joylistener after the other launch files broke it,
+and putting headhack after them makes roslaunch not find it! -->
+
+<node pkg="person_data" type="named" args="/person_dummy_data"/>
+<include file="$(find person_data)/data_collector_record_dummy.launch" />
+
+</launch>
Property changes on: pkg/trunk/sandbox/person_data/person_data_dummy.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/sandbox/person_data/person_data.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Added: pkg/trunk/sandbox/person_data/src/headhack.cpp
===================================================================
--- pkg/trunk/sandbox/person_data/src/headhack.cpp (rev 0)
+++ pkg/trunk/sandbox/person_data/src/headhack.cpp 2009-07-23 21:08:43 UTC (rev 19526)
@@ -0,0 +1,36 @@
+//pointhead.py doesn't seem to work from a launch file and only sends
+//one message, so I am writing a node that calls it repeatedly
+
+#include <ros/ros.h>
+#include <std_msgs/String.h>
+#include <sstream>
+#include <iostream>
+using namespace std;
+
+int main(int argc, char ** argv)
+{
+ ros::init(argc, argv, "headhack");
+ ros::NodeHandle n;
+ //ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter",100);
+ ros::Rate loop_rate(1);
+
+
+ std::string command = "export PERSON_DATA=`rospack find person_data`; ";
+ command += "export POINT_HEAD=`rospack find pr2_mechanism_controllers`/scripts/pointhead.py; ";
+ command += "$POINT_HEAD `cat ${PERSON_DATA}/headpan.txt` `cat ${PERSON_DATA}/headtilt.txt`";
+
+ while (n.ok())
+ {
+ FILE * output = popen(command.c_str(), "r");
+ fclose(output);
+ //std::stringstream ss;
+ //ss << "Hello there! This is message [" << count << "]";
+ //std_msgs::String msg;
+ //msg.data = ss.str();
+ //chatter_pub.publish(msg);
+ //ROS_INFO("I published [%s]",ss.str().c_str());
+ //ros::spinOnce();
+ //loop_rate.sleep();
+ //++count;
+ }
+}
Added: pkg/trunk/sandbox/person_data/src/joyemu.cpp
===================================================================
--- pkg/trunk/sandbox/person_data/src/joyemu.cpp (rev 0)
+++ pkg/trunk/sandbox/person_data/src/joyemu.cpp 2009-07-23 21:08:43 UTC (rev 19526)
@@ -0,0 +1,52 @@
+//emulates the joystick for offline testing
+
+#include <ros/ros.h>
+#include <std_msgs/String.h>
+#include <sstream>
+#include "joy/Joy.h"
+#include <iostream>
+using namespace std;
+
+int main(int argc, char ** argv)
+{
+ ros::init(argc, argv, "joyemu");
+ ros::NodeHandle n;
+ ros::Publisher chatter_pub = n.advertise<joy::Joy>("joy",100);
+ ros::Rate loop_rate(5);
+
+
+ joy::Joy joy_msg;
+
+ joy_msg.set_buttons_size(100);
+
+ while (n.ok())
+ {
+ for (int i = 0; i < 100; i++)
+ joy_msg.buttons[i] = 0;
+
+ cout << "1. Send record stop" << endl;
+ cout << "2. Send record start" << endl;
+ cout << "3. Quit" << endl;
+
+ joy_msg.buttons[6] = 1; //press head button to enable record starting/stopping
+
+
+ int choice;
+ cin >> choice;
+
+ if (choice == 3)
+ return 0;
+
+ assert(choice == 1 || choice == 2);
+
+ if (choice == 1)
+ joy_msg.buttons[0] = 1;
+ else
+ joy_msg.buttons[2] = 1;
+
+
+ chatter_pub.publish(joy_msg);
+ ros::spinOnce();
+ loop_rate.sleep();
+ }
+}
Property changes on: pkg/trunk/sandbox/person_data/src/joyemu.cpp
___________________________________________________________________
Added: svn:mergeinfo
+
Modified: pkg/trunk/sandbox/person_data/src/joylistener.cpp
===================================================================
--- pkg/trunk/sandbox/person_data/src/joylistener.cpp 2009-07-23 21:03:45 UTC (rev 19525)
+++ pkg/trunk/sandbox/person_data/src/joylistener.cpp 2009-07-23 21:08:43 UTC (rev 19526)
@@ -21,9 +21,9 @@
void IA3N_INFO(const char * msg)
{
- std_msgs::String rmsg;
- rmsg.data = std::string(msg);
- debug_pub.publish(rmsg);
+ //std_msgs::String rmsg;
+ //rmsg.data = std::string(msg);
+ //debug_pub.publish(rmsg);
ROS_INFO(msg);
}
@@ -45,7 +45,7 @@
void joyCallback(const joy::Joy::ConstPtr & msg)
{
- IA3N_INFO("Received joystick message!");
+ //IA3N_INFO("Received joystick message!");
int n = msg->get_buttons_size();
@@ -54,23 +54,23 @@
if (headButton < n && msg->buttons[headButton])
{
- IA3N_INFO("Head button pushed down");
+ //IA3N_INFO("Head button pushed down");
headButtonPressed = true;
}
else
{
- IA3N_INFO("Head button released");
+ //IA3N_INFO("Head button released");
headButtonPressed = false;
}
if (deadmanButton < n && msg->buttons[deadmanButton])
{
- IA3N_INFO("Deadman button pushed down");
+ //IA3N_INFO("Deadman button pushed down");
deadmanButtonPressed = true;
}
else
{
- IA3N_INFO("Deadman button released");
+ //IA3N_INFO("Deadman button released");
deadmanButtonPressed = false;
}
@@ -81,6 +81,7 @@
{
if (!recording)
{
+ IA3N_INFO("Restarted recording");
startRecording();
}
else
@@ -93,6 +94,7 @@
{
if (recording)
{
+ IA3N_INFO("Stopped recording");
stopRecording();
}
else
@@ -116,6 +118,5 @@
ros::NodeHandle n;
debug_pub = n.advertise<std_msgs::String>("ia3n_debug",100);
ros::Subscriber chatter_sub = n.subscribe("joy",100,joyCallback);
- IA3N_INFO("joylistener subscribed to joy");
ros::spin();
}
Added: pkg/trunk/sandbox/person_data/src/joylistener_dummy.cpp
===================================================================
--- pkg/trunk/sandbox/person_data/src/joylistener_dummy.cpp (rev 0)
+++ pkg/trunk/sandbox/person_data/src/joylistener_dummy.cpp 2009-07-23 21:08:43 UTC (rev 19526)
@@ -0,0 +1,122 @@
+//Author: Ian Goodfellow
+//When deadman switch is not pressed and head switch is pressed,
+//button 0 stops recording and button 2 starts recording
+//Assumes that recording is started initially
+
+#include <ros/ros.h>
+#include <std_msgs/String.h>
+#include "joy/Joy.h"
+#include <string>
+
+const static int headButton = 6;
+const static int deadmanButton = 4;
+const static int recordButton = 2;
+const static int stopButton = 0;
+
+static bool recording = true;
+static bool headButtonPressed = false;
+static bool deadmanButtonPressed = false;
+
+ros::Publisher debug_pub;
+
+void IA3N_INFO(const char * msg)
+{
+ //std_msgs::String rmsg;
+ //rmsg.data = std::string(msg);
+ //debug_pub.publish(rmsg);
+ ROS_INFO(msg);
+}
+
+void startRecording()
+{
+ FILE * result = popen("bash `rospack find person_data`/startRecordingDummy.sh","r");
+ fclose(result);
+ recording = true;
+}
+
+void stopRecording()
+{
+ FILE * result = popen("bash `rospack find person_data`/stopRecordingDummy.sh","r");
+ fclose(result);
+ recording = false;
+}
+
+
+
+void joyCallback(const joy::Joy::ConstPtr & msg)
+{
+ //IA3N_INFO("Received joystick message!");
+
+ int n = msg->get_buttons_size();
+
+ //messages are sized so that they are just long enough to include the last 1
+
+
+ if (headButton < n && msg->buttons[headButton])
+ {
+ //IA3N_INFO("Head button pushed down");
+ headButtonPressed = true;
+ }
+ else
+ {
+ //IA3N_INFO("Head button released");
+ headButtonPressed = false;
+ }
+
+ if (deadmanButton < n && msg->buttons[deadmanButton])
+ {
+ //IA3N_INFO("Deadman button pushed down");
+ deadmanButtonPressed = true;
+ }
+ else
+ {
+ //IA3N_INFO("Deadman button released");
+ deadmanButtonPressed = false;
+ }
+
+
+ if (headButtonPressed && ! deadmanButtonPressed)
+ {
+ if (recordButton < n && msg->buttons[recordButton])
+ {
+ if (!recording)
+ {
+ IA3N_INFO("Restarted recording");
+ startRecording();
+ }
+ else
+ {
+ IA3N_INFO("You are already recording!");
+ }
+ }
+
+ if (stopButton < n && msg->buttons[stopButton])
+ {
+ if (recording)
+ {
+ IA3N_INFO("Stopped recording");
+ stopRecording();
+ }
+ else
+ {
+ IA3N_INFO("You have already stopped recording");
+ }
+ }
+ }
+
+
+ //for ( int i = 0; i < n; i++)
+ //{
+ // if (msg->buttons[i])
+ // IA3N_INFO("Button %d pressed",i);
+ //}
+}
+
+int main(int argc, char ** argv)
+{
+ ros::init(argc, argv, "joylistener");
+ ros::NodeHandle n;
+ debug_pub = n.advertise<std_msgs::String>("ia3n_debug",100);
+ ros::Subscriber chatter_sub = n.subscribe("joy",100,joyCallback);
+ ros::spin();
+}
Added: pkg/trunk/sandbox/person_data/src/manual.cpp
===================================================================
--- pkg/trunk/sandbox/person_data/src/manual.cpp (rev 0)
+++ pkg/trunk/sandbox/person_data/src/manual.cpp 2009-07-23 21:08:43 UTC (rev 19526)
@@ -0,0 +1,44 @@
+#include <ros/ros.h>
+#include <std_msgs/String.h>
+#include <sstream>
+#include <string>
+using namespace std;
+
+//first arg is name of topic
+//optional second arg is name of node
+
+int main(int argc, char ** argv)
+{
+ string topic;
+ string nodename;
+
+ if (argc >= 2)
+ topic = argv[1];
+
+ if (argc >= 3)
+ nodename = argv[2];
+ else
+ nodename = topic+"_publisher";
+
+ if (argc < 2 && argc > 3)
+ return -1;
+
+ ros::init(argc, argv, nodename.c_str());
+ ros::NodeHandle n;
+ ros::Publisher chatter_pub = n.advertise<std_msgs::String>(topic.c_str(),100);
+ ros::Rate loop_rate(5);
+ int count = 0;
+ while (n.ok())
+ {
+ assert(false); //todo-- get line of input from user and publish it. use this to test morgan's mux nodes
+ std::stringstream ss;
+ ss << "Hello there! This is message [" << count << "]";
+ std_msgs::String msg;
+ msg.data = ss.str();
+ chatter_pub.publish(msg);
+ ROS_INFO("I published [%s]",ss.str().c_str());
+ ros::spinOnce();
+ loop_rate.sleep();
+ ++count;
+ }
+}
Added: pkg/trunk/sandbox/person_data/src/named.cpp
===================================================================
--- pkg/trunk/sandbox/person_data/src/named.cpp (rev 0)
+++ pkg/trunk/sandbox/person_data/src/named.cpp 2009-07-23 21:08:43 UTC (rev 19526)
@@ -0,0 +1,44 @@
+#include <ros/ros.h>
+#include <std_msgs/String.h>
+#include <sstream>
+#include <string>
+using namespace std;
+
+//first arg is name of topic
+//optional second arg is name of node
+//similar to manual except it just spews dummy messages instead of requesting that you type them
+
+int main(int argc, char ** argv)
+{
+ string topic;
+ string nodename;
+
+ if (argc >= 2)
+ topic = argv[1];
+
+ if (argc >= 3)
+ nodename = argv[2];
+ else
+ nodename = topic+"_publisher";
+
+ if (argc < 2 && argc > 3)
+ return -1;
+
+ ros::init(argc, argv, nodename.c_str());
+ ros::NodeHandle n;
+ ros::Publisher chatter_pub = n.advertise<std_msgs::String>(topic.c_str(),100);
+ ros::Rate loop_rate(5);
+ int count = 0;
+ while (n.ok())
+ {
+ std::stringstream ss;
+ ss << "Hello there! This is message [" << count << "]";
+ std_msgs::String msg;
+ msg.data = ss.str();
+ chatter_pub.publish(msg);
+ ROS_INFO("I published [%s]",ss.str().c_str());
+ ros::spinOnce();
+ loop_rate.sleep();
+ ++count;
+ }
+}
Modified: pkg/trunk/sandbox/person_data/startRecording.sh
===================================================================
--- pkg/trunk/sandbox/person_data/startRecording.sh 2009-07-23 21:03:45 UTC (rev 19525)
+++ pkg/trunk/sandbox/person_data/startRecording.sh 2009-07-23 21:08:43 UTC (rev 19526)
@@ -1 +1 @@
-roslaunch start_recording.launch
+roslaunch `rospack find person_data`/startRecording.launch
Copied: pkg/trunk/sandbox/person_data/startRecordingDummy.launch (from rev 19500, pkg/trunk/sandbox/person_data/startRecording.launch)
===================================================================
--- pkg/trunk/sandbox/person_data/startRecordingDummy.launch (rev 0)
+++ pkg/trunk/sandbox/person_data/startRecordingDummy.launch 2009-07-23 21:08:43 UTC (rev 19526)
@@ -0,0 +1,3 @@
+<launch>
+<node pkg="topic_tools" type="switch_mux" args="/person_dummy_data_muxed /person_dummy_data"/>
+</launch>
Property changes on: pkg/trunk/sandbox/person_data/startRecordingDummy.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/sandbox/person_data/startRecording.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/sandbox/person_data/startRecordingDummy.sh (from rev 19500, pkg/trunk/sandbox/person_data/startRecording.sh)
===================================================================
--- pkg/trunk/sandbox/person_data/startRecordingDummy.sh (rev 0)
+++ pkg/trunk/sandbox/person_data/startRecordingDummy.sh 2009-07-23 21:08:43 UTC (rev 19526)
@@ -0,0 +1 @@
+roslaunch `rospack find person_data`/startRecordingDummy.launch
Property changes on: pkg/trunk/sandbox/person_data/startRecordingDummy.sh
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/sandbox/person_data/startRecording.sh: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/person_data/stopRecording.launch
===================================================================
--- pkg/trunk/sandbox/person_data/stopRecording.launch 2009-07-23 21:03:45 UTC (rev 19525)
+++ pkg/trunk/sandbox/person_data/stopRecording.launch 2009-07-23 21:08:43 UTC (rev 19526)
@@ -1,10 +1,11 @@
<launch>
-<node pkg="topic_tools" type="switch_mux" args="/wide_stereo/raw_stereo_muxed /dummy" machine="four"/>
-<node pkg="topic_tools" type="switch_mux" args="/narrow_stereo/raw_stereo_muxed /dummy" machine="four"/>
-<node pkg="topic_tools" type="switch_mux" args="/tf_message_muxed /dummy" machine="two"/>
-<node pkg="topic_tools" type="switch_mux" machine="two" args="/mechanism_state_muxed /dummy"/>
-<node pkg="topic_tools" type="switch_mux" machine="two" args="/base_scan_muxed /dummy"/>
-<node pkg="topic_tools" type="switch_mux" machine="two" args="/tilt_scan_muxed /dummy"/>
-<node pkg="topic_tools" type="switch_mux" machine="two" args="/laser_tilt_controller/laser_scanner_signal_muxed /dummy"/>
-<node pkg="topic_tools" type="switch_mux" machine="two" args="/odom_muxed /dummy">
+<include file="$(find pr2_alpha)/$(env ROBOT).machine" />
+<node pkg="topic_tools" type="switch_mux" args="/wide_stereo/raw_stereo_muxed __none" machine="four"/>
+<node pkg="topic_tools" type="switch_mux" args="/narrow_stereo/raw_stereo_muxed __none" machine="four"/>
+<node pkg="topic_tools" type="switch_mux" args="/tf_message_muxed __none" machine="two"/>
+<node pkg="topic_tools" type="switch_mux" machine="two" args="/mechanism_state_muxed __none"/>
+<node pkg="topic_tools" type="switch_mux" machine="two" args="/base_scan_muxed __none"/>
+<node pkg="topic_tools" type="switch_mux" machine="two" args="/tilt_scan_muxed __none"/>
+<node pkg="topic_tools" type="switch_mux" machine="two" args="/laser_tilt_controller/laser_scanner_signal_muxed __none"/>
+<node pkg="topic_tools" type="switch_mux" machine="two" args="/odom_muxed __none"/>
</launch>
Modified: pkg/trunk/sandbox/person_data/stopRecording.sh
===================================================================
--- pkg/trunk/sandbox/person_data/stopRecording.sh 2009-07-23 21:03:45 UTC (rev 19525)
+++ pkg/trunk/sandbox/person_data/stopRecording.sh 2009-07-23 21:08:43 UTC (rev 19526)
@@ -1 +1 @@
-roslaunch stopRecording.launch
+roslaunch `rospack find person_data`/stopRecording.launch
Copied: pkg/trunk/sandbox/person_data/stopRecordingDummy.launch (from rev 19500, pkg/trunk/sandbox/person_data/stopRecording.launch)
===================================================================
--- pkg/trunk/sandbox/person_data/stopRecordingDummy.launch (rev 0)
+++ pkg/trunk/sandbox/person_data/stopRecordingDummy.launch 2009-07-23 21:08:43 UTC (rev 19526)
@@ -0,0 +1,3 @@
+<launch>
+<node pkg="topic_tools" type="switch_mux" args="/person_dummy_data_muxed __none"/>
+</launch>
Property changes on: pkg/trunk/sandbox/person_data/stopRecordingDummy.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/sandbox/person_data/stopRecording.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/sandbox/person_data/stopRecordingDummy.sh (from rev 19500, pkg/trunk/sandbox/person_data/stopRecording.sh)
===================================================================
--- pkg/trunk/sandbox/person_data/stopRecordingDummy.sh (rev 0)
+++ pkg/trunk/sandbox/person_data/stopRecordingDummy.sh 2009-07-23 21:08:43 UTC (rev 19526)
@@ -0,0 +1 @@
+roslaunch `rospack find person_data`/stopRecordingDummy.launch
Property changes on: pkg/trunk/sandbox/person_data/stopRecordingDummy.sh
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/sandbox/person_data/stopRecording.sh:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Added: pkg/trunk/sandbox/person_data/teleop_joystick.launch
===================================================================
--- pkg/trunk/sandbox/person_data/teleop_joystick.launch (rev 0)
+++ pkg/trunk/sandbox/person_data/teleop_joystick.launch 2009-07-23 21:08:43 UTC (rev 19526)
@@ -0,0 +1,49 @@
+<launch>
+<!-- this is a fork of pr2_alpha/teleop_joystick. this version only allows
+the operator to teleop the base -->
+
+<param name="base_controller/odom_publish_rate" value="30.0"/>
+<param name="base_controller/autostart" value="true"/>
+<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" output="screen"/>
+
+<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/torso_lift_vel_controller.xml" output="screen" />
+
+
+<include file="$(find pr2_default_controllers)/head_position_controller.launch" />
+
+
+<!-- The robot pose EKF is launched with the base controller-->
+<include file="$(find robot_pose_ekf)/robot_pose_ekf.launch" />
+
+ <group name="wg">
+<param name="axis_vx" value="3" type="int"/>
+<param name="axis_vy" value="2" type="int"/>
+<param name="axis_vw" value="0" type="int"/>
+<param name="axis_pan" value="0" type="int"/>
+<param name="axis_tilt" value="3" type="int"/>
+
+<param name="max_vw" value="0.8" />
+<param name="max_vx" value="0.5" />
+<param name="max_vy" value="0.5" />
+<param name="max_vw_run" value="1.4" />
+<param name="max_vx_run" value="1.0" />
+<param name="max_vy_run" value="1.0" />
+<param name="tilt_step" value="0.1" />
+<param name="pan_step" value="0.1" />
+
+
+<param name="run_button" value="5" type="int" />
+<param name="torso_dn_button" value="500" type="int" />
+<param name="torso_up_button" value="500" type="int" />
+<param name="head_button" value="500" type="int" />
+
+<param name="deadman_button" value="4" type="int"/>
+<node pkg="teleop_pr2" type="teleop_pr2" output="screen" >
+<remap from="/head_controller/command" to="/davy_jones"/>
+</node>
+
+ </group>
+
+
+</launch>
+
Added: pkg/trunk/sandbox/person_data/test.launch
===================================================================
--- pkg/trunk/sandbox/person_data/test.launch (rev 0)
+++ pkg/trunk/sandbox/person_data/test.launch 2009-07-23 21:08:43 UTC (rev 19526)
@@ -0,0 +1,3 @@
+<launch>
+<node pkg="person_data" type="headhack" output="screen"/>
+</launch>
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