[Personalrobots-commit] SF.net SVN: personalrobots:[19790] pkg/trunk/stacks/pr2/pr2_alpha

[<wa...@us...>]

Revision: 19790
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=19790&view=rev
Author:   wattsk
Date:     2009-07-28 01:25:36 +0000 (Tue, 28 Jul 2009)

Log Message:
-----------
Teleop PS3 launch file for PRE, joystick commented out for now until we can verify socket works and all that

Modified Paths:
--------------
    pkg/trunk/stacks/pr2/pr2_alpha/pre.launch

Added Paths:
-----------
    pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch

Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-07-28 01:21:48 UTC (rev 19789)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-07-28 01:25:36 UTC (rev 19790)
@@ -3,10 +3,15 @@
   <include file="$(find pr2_alpha)/pre.machine" />
   <include file="$(find pr2_alpha)/pre_ethercat_reset.launch" />
 
-<!-- Joystick -->
-  <param name="joy/deadzone" value="5000"/>
-  <node machine="two" pkg="joy" type="joy"  respawn="true"/>
 
+<!-- PS3 joystick for A2 servers on PRE -->
+<!-- Watts Commenting out until joystick driver works all the way, and python dev selector is tested 
+  <node machine="two" pkg="joy" type="ps3_joy" name="joy" respawn="true" >
+  <param name="deadzone" value="0.10" />
+  <param name="dev" value="/dev/input/js1" />
+  </node>
+-->
+
 <!-- Power Board Control Node -->
   <node machine="two" pkg="pr2_power_board" type="power_node"  respawn="true"/>
 

Added: pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch	                        (rev 0)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch	2009-07-28 01:25:36 UTC (rev 19790)
@@ -0,0 +1,44 @@
+<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" />
+<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" />
+
+
+<!-- The robot pose EKF is launched with the base controller-->
+<include file="$(find robot_pose_ekf)/robot_pose_ekf.launch" />
+
+  <group name="ps3_teleop">
+<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" />
+
+<!-- Buttons have changed for PS3 controller mapping -->
+<param name="run_button" value="7" type="int" />
+<param name="torso_dn_button" value="1" type="int" />
+<param name="torso_up_button" value="2" type="int" />
+<param name="head_button" value="4" type="int" />
+<param name="deadman_button" value="6" type="int"/>
+
+<node pkg="teleop_pr2" type="teleop_pr2" output="screen"/>
+  </group>
+
+
+</launch>
+


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