[Personalrobots-commit] SF.net SVN: personalrobots:[19826] pkg/trunk

[<vij...@us...>]

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


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.