[Personalrobots-commit] SF.net SVN: personalrobots:[19827] pkg/trunk

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

Revision: 19827
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=19827&view=rev
Author:   vijaypradeep
Date:     2009-07-28 05:31:45 +0000 (Tue, 28 Jul 2009)

Log Message:
-----------
Updating Gazebo launch files to match changes in r19826

Modified Paths:
--------------
    pkg/trunk/calibration/laser_camera_calibration/gatherdata.ros.xml
    pkg/trunk/demos/pr2_gazebo/pr2_default_controllers.launch
    pkg/trunk/demos/pr2_gazebo/pr2_trajectory_controllers.launch
    pkg/trunk/demos/pr2_gazebo/prototype1_default_controllers.launch

Modified: pkg/trunk/calibration/laser_camera_calibration/gatherdata.ros.xml
===================================================================
--- pkg/trunk/calibration/laser_camera_calibration/gatherdata.ros.xml	2009-07-28 05:17:36 UTC (rev 19826)
+++ pkg/trunk/calibration/laser_camera_calibration/gatherdata.ros.xml	2009-07-28 05:31:45 UTC (rev 19827)
@@ -18,7 +18,7 @@
   
   <!-- start nodding laser -->
   <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 .4 .1" />
+  <node pkg="pr2_mechanism_controllers" type="send_periodic_cmd_srv.py" args="laser_tilt_controller linear 10 .4 .1" />
 
   <!-- start the filtering node -->
   <node machine="localhost_cameras" pkg="laser_camera_calibration" type="gatherdata.py" output="screen">

Modified: pkg/trunk/demos/pr2_gazebo/pr2_default_controllers.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_default_controllers.launch	2009-07-28 05:17:36 UTC (rev 19826)
+++ pkg/trunk/demos/pr2_gazebo/pr2_default_controllers.launch	2009-07-28 05:31:45 UTC (rev 19827)
@@ -14,10 +14,10 @@
     <!--include file="$(find pr2_default_controllers)/prototype1_calibration_controller.launch" /-->
 
     <!-- send laser tilt motor a command -->
-    <!--node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 20 0.872 0.3475" respawn="false" output="screen" /-->
-    <!--node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 1 .45 .40" /--> <!-- this one will pick up shoulders at lowest position -->
+    <!--node pkg="pr2_mechanism_controllers" type="send_periodic_cmd_srv.py" args="laser_tilt_controller linear 20 0.872 0.3475" respawn="false" output="screen" /-->
+    <!--node pkg="pr2_mechanism_controllers" type="send_periodic_cmd_srv.py" args="laser_tilt_controller linear 1 .45 .40" /--> <!-- this one will pick up shoulders at lowest position -->
     <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 .45 .40" />
+    <node pkg="pr2_mechanism_controllers" type="send_periodic_cmd_srv.py" args="laser_tilt_controller linear 2 .45 .40" />
 
 </launch>
 

Modified: pkg/trunk/demos/pr2_gazebo/pr2_trajectory_controllers.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_trajectory_controllers.launch	2009-07-28 05:17:36 UTC (rev 19826)
+++ pkg/trunk/demos/pr2_gazebo/pr2_trajectory_controllers.launch	2009-07-28 05:31:45 UTC (rev 19827)
@@ -12,7 +12,7 @@
 
   <!-- tilting laser 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 2 .45 .40" />
+  <node pkg="pr2_mechanism_controllers" type="send_periodic_cmd_srv.py" args="laser_tilt_controller linear 2 .45 .40" />
 
 </launch>
 

Modified: pkg/trunk/demos/pr2_gazebo/prototype1_default_controllers.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/prototype1_default_controllers.launch	2009-07-28 05:17:36 UTC (rev 19826)
+++ pkg/trunk/demos/pr2_gazebo/prototype1_default_controllers.launch	2009-07-28 05:31:45 UTC (rev 19827)
@@ -6,8 +6,8 @@
 
     <!-- start tilting Hokuyo laser by sending it a preset code of 46, this means sawtooth profile sweep.
          for details of the profile, rates, see controller::LaserScannerControllerNode. -->
-    <!--node pkg="pr2_mechanism_controllers" type="control_laser.py" args="laser_tilt_controller sine 20 0.872 0.3475" respawn="false" output="screen" /-->
+    <!--node pkg="pr2_mechanism_controllers" type="send_periodic_cmd_srv.py" args="laser_tilt_controller linear 20 0.872 0.3475" respawn="false" output="screen" /-->
     <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 .45 .40" />
+    <node pkg="pr2_mechanism_controllers" type="send_periodic_cmd_srv.py" args="laser_tilt_controller linear 2 .45 .40" />
 </launch>
 


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