[Personalrobots-commit] SF.net SVN: personalrobots:[19762] pkg/trunk/stacks/pr2/pr2_alpha

[<sac...@us...>]

Revision: 19762
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=19762&view=rev
Author:   sachinchitta
Date:     2009-07-27 22:46:15 +0000 (Mon, 27 Jul 2009)

Log Message:
-----------
fixing a few more launch files for base controller changes

Modified Paths:
--------------
    pkg/trunk/stacks/pr2/pr2_alpha/teleop_base_spaceball.launch
    pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch
    pkg/trunk/stacks/pr2/pr2_alpha/teleop_keyboard.launch
    pkg/trunk/stacks/pr2/pr2_alpha/wheel_odometry_calibrate.launch

Modified: pkg/trunk/stacks/pr2/pr2_alpha/teleop_base_spaceball.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_base_spaceball.launch	2009-07-27 22:43:25 UTC (rev 19761)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_base_spaceball.launch	2009-07-27 22:46:15 UTC (rev 19762)
@@ -1,7 +1,10 @@
 <launch>
-<param name="base_controller/odom_publish_rate" value="30.0"/>
-<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" output="screen"/>
+ <rosparam file="$(find pr2_default_controllers)/pr2_base_controller.yaml" command="load" ns="pr2_base_controller" />
+ <rosparam file="$(find pr2_default_controllers)/pr2_odometry.yaml" command="load" ns="pr2_odometry" />
+<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/pr2_base_controller.xml" output="screen"/>
+<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/pr2_base_odometry.xml" output="screen"/>
 
+
   <group name="wg">
 <param name="axis_vx" value="0" type="int"/>
 <param name="axis_vy" value="1" type="int"/>

Modified: pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch	2009-07-27 22:43:25 UTC (rev 19761)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch	2009-07-27 22:46:15 UTC (rev 19762)
@@ -2,9 +2,9 @@
 
  <rosparam file="$(find pr2_default_controllers)/pr2_base_controller.yaml" command="load" ns="pr2_base_controller" />
  <rosparam file="$(find pr2_default_controllers)/pr2_odometry.yaml" command="load" ns="pr2_odometry" />
-
 <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/pr2_base_controller.xml" output="screen"/>
 <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/pr2_base_odometry.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" />

Modified: pkg/trunk/stacks/pr2/pr2_alpha/teleop_keyboard.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_keyboard.launch	2009-07-27 22:43:25 UTC (rev 19761)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_keyboard.launch	2009-07-27 22:46:15 UTC (rev 19762)
@@ -1,9 +1,11 @@
 <launch>
+ <rosparam file="$(find pr2_default_controllers)/pr2_base_controller.yaml" command="load" ns="pr2_base_controller" />
+ <rosparam file="$(find pr2_default_controllers)/pr2_odometry.yaml" command="load" ns="pr2_odometry" />
 
-<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)/pr2_base_controller.xml" output="screen"/>
+<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/pr2_base_odometry.xml" output="screen"/>
 
+
 <!-- The robot pose EKF is launched with the base controller-->
 <param name="robot_pose_ekf/freq" value="30.0"/>
 <param name="robot_pose_ekf/sensor_timeout" value="1.0"/>

Modified: pkg/trunk/stacks/pr2/pr2_alpha/wheel_odometry_calibrate.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/wheel_odometry_calibrate.launch	2009-07-27 22:43:25 UTC (rev 19761)
+++ pkg/trunk/stacks/pr2/pr2_alpha/wheel_odometry_calibrate.launch	2009-07-27 22:46:15 UTC (rev 19762)
@@ -1,7 +1,10 @@
 <launch>
-<param name="base_controller/odom_publish_rate" value="30.0"/>
-<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" output="screen"/>
+ <rosparam file="$(find pr2_default_controllers)/pr2_base_controller.yaml" command="load" ns="pr2_base_controller" />
+ <rosparam file="$(find pr2_default_controllers)/pr2_odometry.yaml" command="load" ns="pr2_odometry" />
 
+<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/pr2_base_controller.xml" output="screen"/>
+<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/pr2_base_odometry.xml" output="screen"/>
+
 <param name="odom_calibration/rot_vel" value="0.5"/>
 <param name="odom_calibration/trans_vel" value="0.0"/>
 <param name="odom_calibration/duration" value="10.0"/>


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