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From: <vij...@us...> - 2009-07-28 05:17:46
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Revision: 19826
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=19826&view=rev
Author: vijaypradeep
Date: 2009-07-28 05:17:36 +0000 (Tue, 28 Jul 2009)
Log Message:
-----------
Switching all robot launch files from LaserScannerControllerNode to LaserScannerTrajControllerNode. LaserScannerControllerNode is now deprecated
Modified Paths:
--------------
pkg/trunk/demos/door_demos/launch/2dnav_pr2_door.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/openrave_planning/ormanipulation/startlasermap.ros.xml
pkg/trunk/pr2/life_test/laser_tilt_test/life_test/controllers.xml
pkg/trunk/pr2/life_test/laser_tilt_test/life_test/life_test.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_laser_tilt/laser_tilt_controller.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_laser_tilt/slow.launch
pkg/trunk/stacks/pr2/pr2_alpha/tilt_laser.launch
Added Paths:
-----------
pkg/trunk/stacks/pr2/pr2_default_controllers/laser_tilt_controller.xml
pkg/trunk/stacks/pr2/pr2_default_controllers/laser_tilt_controller_deprecated.xml
Removed Paths:
-------------
pkg/trunk/stacks/pr2/pr2_default_controllers/laser_tilt_controller.xml
Modified: pkg/trunk/demos/door_demos/launch/2dnav_pr2_door.launch
===================================================================
--- pkg/trunk/demos/door_demos/launch/2dnav_pr2_door.launch 2009-07-28 04:53:01 UTC (rev 19825)
+++ pkg/trunk/demos/door_demos/launch/2dnav_pr2_door.launch 2009-07-28 05:17:36 UTC (rev 19826)
@@ -8,7 +8,7 @@
<!-- node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" />
<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/laser_tilt_controller.xml" />
- <node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 2 .75 .30" />-->
+ <node pkg="pr2_mechanism_controllers" type="send_periodic_cmd_srv.py" args="laser_tilt_controller linear 2 .75 .30" />-->
<!-- Filter for tilt laser shadowing/veiling -->
<!-- node pkg="laser_scan" type="scan_shadows_filter_node" respawn="true" machine="three" /-->
Modified: pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/laser+stereo-perception.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/laser+stereo-perception.launch 2009-07-28 04:53:01 UTC (rev 19825)
+++ pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/laser+stereo-perception.launch 2009-07-28 05:17:36 UTC (rev 19826)
@@ -5,7 +5,7 @@
<!-- start controller -->
<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/laser_tilt_controller.xml" />
- <node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 8 .75 .25" />
+ <node pkg="pr2_mechanism_controllers" type="send_periodic_cmd_srv.py" args="laser_tilt_controller linear 8 .75 .25" />
<!-- convert laser scan to pointcloud -->
<node pkg="laser_scan" type="scan_to_cloud" output="screen">
Modified: pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/laser-perception.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/laser-perception.launch 2009-07-28 04:53:01 UTC (rev 19825)
+++ pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/laser-perception.launch 2009-07-28 05:17:36 UTC (rev 19826)
@@ -5,7 +5,7 @@
<!-- start controller -->
<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/laser_tilt_controller.xml" />
- <node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 15 .75 .25" />
+ <node pkg="pr2_mechanism_controllers" type="send_periodic_cmd_srv.py" args="laser_tilt_controller linear 15 .75 .25" />
<!-- convert laser scan to pointcloud -->
<node pkg="laser_scan" type="scan_to_cloud" output="screen">
Modified: pkg/trunk/openrave_planning/ormanipulation/startlasermap.ros.xml
===================================================================
--- pkg/trunk/openrave_planning/ormanipulation/startlasermap.ros.xml 2009-07-28 04:53:01 UTC (rev 19825)
+++ pkg/trunk/openrave_planning/ormanipulation/startlasermap.ros.xml 2009-07-28 05:17:36 UTC (rev 19826)
@@ -3,7 +3,7 @@
<machine name="localhost-lasermap" address="localhost" default="true"/>
<node pkg="mechanism_control" type="spawner.py" args="$(find wg_robot_description)/laser_tilt/laser_tilt_controller.xml" />
- <node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 10 .75 .25" />
+ <node pkg="pr2_mechanism_controllers" type="send_periodic_cmd_srv.py" args="laser_tilt_controller linear 10 .75 .25" />
<!-- <group ns="laser"> -->
<node pkg="laser_scan" type="scan_shadows_filter_node"/>
Modified: pkg/trunk/pr2/life_test/laser_tilt_test/life_test/controllers.xml
===================================================================
--- pkg/trunk/pr2/life_test/laser_tilt_test/life_test/controllers.xml 2009-07-28 04:53:01 UTC (rev 19825)
+++ pkg/trunk/pr2/life_test/laser_tilt_test/life_test/controllers.xml 2009-07-28 05:17:36 UTC (rev 19826)
@@ -1,10 +1,12 @@
<controllers>
-<controller name="laser_controller" topic="laser_controller" type="LaserScannerControllerNode">
- <filter smoothing_factor="0.1" />
+ <controller name="laser_tilt_controller" topic="laser_controller" type="LaserScannerTrajControllerNode">
+ <max_acc value="1.0" />
+ <max_rate value="100.0" />
+ <filter name="d_error_filter" type="TransferFunctionFilter">
+ <params a="1.0 -.1" b=".9" />
+ </filter>
<joint name="laser_tilt_mount_joint">
- <pid p="12" i=".1" d="1" iClamp="0.5" />
+ <pid p="8" i=".1" d="0.2" iClamp="0.5" />
</joint>
- </controller>
-
-
+ </controller>
</controllers>
Modified: pkg/trunk/pr2/life_test/laser_tilt_test/life_test/life_test.launch
===================================================================
--- pkg/trunk/pr2/life_test/laser_tilt_test/life_test/life_test.launch 2009-07-28 04:53:01 UTC (rev 19825)
+++ pkg/trunk/pr2/life_test/laser_tilt_test/life_test/life_test.launch 2009-07-28 05:17:36 UTC (rev 19826)
@@ -1,5 +1,5 @@
<launch>
<node pkg="mechanism_control" type="spawner.py" args="$(find life_test)/laser_tilt_test/life_test/controllers.xml" />
-
- <node pkg="life_test" type="run_laser_tilt_test.py" />
+ <node pkg="pr2_mechanism_controllers" type="send_periodic_cmd_srv.py" args="laser_tilt_controller linear 0.25 1.25 0.25" />
+ <!-- node pkg="life_test" type="run_laser_tilt_test.py" / -->
</launch>
Modified: pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_laser_tilt/laser_tilt_controller.launch
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_laser_tilt/laser_tilt_controller.launch 2009-07-28 04:53:01 UTC (rev 19825)
+++ pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_laser_tilt/laser_tilt_controller.launch 2009-07-28 05:17:36 UTC (rev 19826)
@@ -1,4 +1,4 @@
<launch>
<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/laser_tilt_controller.xml" />
- <node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 10 .75 .25" />
+ <node pkg="pr2_mechanism_controllers" type="send_periodic_cmd_srv.py" args="laser_tilt_controller linear 10 .75 .25" />
</launch>
Modified: pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_laser_tilt/slow.launch
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_laser_tilt/slow.launch 2009-07-28 04:53:01 UTC (rev 19825)
+++ pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_laser_tilt/slow.launch 2009-07-28 05:17:36 UTC (rev 19826)
@@ -1,5 +1,5 @@
<launch>
- <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_experimental_controllers)/laser_tilt/laser_tilt_controller.xml" />
+ <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/laser_tilt_controller.xml" />
<!--<node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 10 .75 .25" />-->
<node pkg="pr2_mechanism_controllers" type="send_laser_traj_cmd_ms2.py" args="laser_tilt_controller" />
</launch>
Modified: pkg/trunk/stacks/pr2/pr2_alpha/tilt_laser.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/tilt_laser.launch 2009-07-28 04:53:01 UTC (rev 19825)
+++ pkg/trunk/stacks/pr2/pr2_alpha/tilt_laser.launch 2009-07-28 05:17:36 UTC (rev 19826)
@@ -1,4 +1,4 @@
<launch>
<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/laser_tilt_controller.xml" output="screen"/>
- <node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 2 0.78 0.3" />
+ <node pkg="pr2_mechanism_controllers" type="send_periodic_cmd_srv.py" args="laser_tilt_controller linear 2 0.78 0.3" />
</launch>
Deleted: pkg/trunk/stacks/pr2/pr2_default_controllers/laser_tilt_controller.xml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_default_controllers/laser_tilt_controller.xml 2009-07-28 04:53:01 UTC (rev 19825)
+++ pkg/trunk/stacks/pr2/pr2_default_controllers/laser_tilt_controller.xml 2009-07-28 05:17:36 UTC (rev 19826)
@@ -1,8 +0,0 @@
-<controllers>
- <controller name="laser_tilt_controller" topic="laser_tilt_controller" type="LaserScannerControllerNode">
- <filter smoothing_factor="0.1" />
- <joint name="laser_tilt_mount_joint">
- <pid p="12" i=".1" d="1" iClamp="0.5" />
- </joint>
- </controller>
-</controllers>
Copied: pkg/trunk/stacks/pr2/pr2_default_controllers/laser_tilt_controller.xml (from rev 19820, pkg/trunk/robot_descriptions/pr2/pr2_experimental_controllers/laser_tilt/laser_tilt_controller.xml)
===================================================================
--- pkg/trunk/stacks/pr2/pr2_default_controllers/laser_tilt_controller.xml (rev 0)
+++ pkg/trunk/stacks/pr2/pr2_default_controllers/laser_tilt_controller.xml 2009-07-28 05:17:36 UTC (rev 19826)
@@ -0,0 +1,12 @@
+<controllers>
+ <controller name="laser_tilt_controller" topic="laser_controller" type="LaserScannerTrajControllerNode">
+ <max_acc value="1.0" />
+ <max_rate value="100.0" />
+ <filter name="d_error_filter" type="TransferFunctionFilter">
+ <params a="1.0 -.1" b=".9" />
+ </filter>
+ <joint name="laser_tilt_mount_joint">
+ <pid p="8" i=".1" d="0.2" iClamp="0.5" />
+ </joint>
+ </controller>
+</controllers>
Property changes on: pkg/trunk/stacks/pr2/pr2_default_controllers/laser_tilt_controller.xml
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/robot_descriptions/pr2/pr2_experimental_controllers/laser_tilt/laser_tilt_controller.xml: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/stacks/pr2/pr2_default_controllers/laser_tilt_controller_deprecated.xml (from rev 19820, pkg/trunk/stacks/pr2/pr2_default_controllers/laser_tilt_controller.xml)
===================================================================
--- pkg/trunk/stacks/pr2/pr2_default_controllers/laser_tilt_controller_deprecated.xml (rev 0)
+++ pkg/trunk/stacks/pr2/pr2_default_controllers/laser_tilt_controller_deprecated.xml 2009-07-28 05:17:36 UTC (rev 19826)
@@ -0,0 +1,8 @@
+<controllers>
+ <controller name="laser_tilt_controller" topic="laser_tilt_controller" type="LaserScannerControllerNode">
+ <filter smoothing_factor="0.1" />
+ <joint name="laser_tilt_mount_joint">
+ <pid p="12" i=".1" d="1" iClamp="0.5" />
+ </joint>
+ </controller>
+</controllers>
Property changes on: pkg/trunk/stacks/pr2/pr2_default_controllers/laser_tilt_controller_deprecated.xml
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/robot_descriptions/pr2/pr2_default_controllers/laser_tilt_controller.xml:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
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