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[Personalrobots-commit] SF.net SVN: personalrobots:[20444] pkg/trunk
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From: <hsu...@us...> - 2009-08-02 21:02:53
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Revision: 20444
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=20444&view=rev
Author: hsujohnhsu
Date: 2009-08-02 21:02:43 +0000 (Sun, 02 Aug 2009)
Log Message:
-----------
split up gazebo_tools from gazebo_plugin. update corresponding launch scripts.
Modified Paths:
--------------
pkg/trunk/demos/arm_gazebo/l_arm.launch
pkg/trunk/demos/arm_gazebo/l_gripper.launch
pkg/trunk/demos/arm_gazebo/r_arm.launch
pkg/trunk/demos/arm_gazebo/r_arm_grasping_demo.launch
pkg/trunk/demos/arm_gazebo/r_gripper.launch
pkg/trunk/demos/arm_gazebo/scripts/test_launch_order.tcsh
pkg/trunk/demos/arm_gazebo/tests/r_arm_constraint.launch
pkg/trunk/demos/arm_gazebo/tests/r_arm_spacenav.launch
pkg/trunk/demos/door_demos_gazebo/door_defs/Makefile
pkg/trunk/demos/door_demos_gazebo/launch/door_only_test.launch
pkg/trunk/demos/door_demos_gazebo/launch/pr2_and_door.launch
pkg/trunk/demos/erratic_gazebo/erratic_demo.launch
pkg/trunk/demos/examples_gazebo/coffee_cup.launch
pkg/trunk/demos/examples_gazebo/cups.launch
pkg/trunk/demos/examples_gazebo/cups2.launch
pkg/trunk/demos/examples_gazebo/dual_link.launch
pkg/trunk/demos/examples_gazebo/dual_link_defs/Makefile
pkg/trunk/demos/examples_gazebo/multi_link.launch
pkg/trunk/demos/examples_gazebo/multi_link_defs/Makefile
pkg/trunk/demos/examples_gazebo/simple_box.launch
pkg/trunk/demos/examples_gazebo/simple_cylinder.launch
pkg/trunk/demos/examples_gazebo/simple_sphere.launch
pkg/trunk/demos/examples_gazebo/single_link.launch
pkg/trunk/demos/examples_gazebo/single_link_defs/Makefile
pkg/trunk/demos/examples_gazebo/table.launch
pkg/trunk/demos/examples_gazebo/table_defs/Makefile
pkg/trunk/demos/examples_gazebo/tables.launch
pkg/trunk/demos/plug_in_gazebo/launch/plug_outlet.launch
pkg/trunk/demos/plug_in_gazebo/launch/pr2_plug_outlet.launch
pkg/trunk/demos/plug_in_gazebo/plug_defs/Makefile
pkg/trunk/demos/pr2_gazebo/coffee_cup.launch
pkg/trunk/demos/pr2_gazebo/head_cart.launch
pkg/trunk/demos/pr2_gazebo/pr2.launch
pkg/trunk/demos/pr2_gazebo/prf.launch
pkg/trunk/demos/pr2_gazebo/prototype1.launch
pkg/trunk/demos/pr2_gazebo/test_grasping.launch
pkg/trunk/drivers/simulator/gazebo_plugin/CMakeLists.txt
pkg/trunk/drivers/simulator/gazebo_plugin/doc.dox
pkg/trunk/drivers/simulator/gazebo_plugin/manifest.xml
pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.launch
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.launch
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.launch
Added Paths:
-----------
pkg/trunk/sandbox/gazebo_tools/
pkg/trunk/sandbox/gazebo_tools/CMakeLists.txt
pkg/trunk/sandbox/gazebo_tools/Makefile
pkg/trunk/sandbox/gazebo_tools/include/
pkg/trunk/sandbox/gazebo_tools/include/gazebo_tools/
pkg/trunk/sandbox/gazebo_tools/include/gazebo_tools/urdf2gazebo.h
pkg/trunk/sandbox/gazebo_tools/manifest.xml
pkg/trunk/sandbox/gazebo_tools/src/
pkg/trunk/sandbox/gazebo_tools/src/remove_model.cpp
pkg/trunk/sandbox/gazebo_tools/src/urdf2factory.cpp
pkg/trunk/sandbox/gazebo_tools/src/urdf2file.cpp
pkg/trunk/sandbox/gazebo_tools/src/urdf2gazebo.cpp
pkg/trunk/sandbox/gazebo_tools/src/xml2factory.cpp
Removed Paths:
-------------
pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/urdf2gazebo.h
pkg/trunk/drivers/simulator/gazebo_plugin/src/remove_model.cpp
pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2factory.cpp
pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2file.cpp
pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2gazebo.cpp
pkg/trunk/drivers/simulator/gazebo_plugin/src/xml2factory.cpp
Modified: pkg/trunk/demos/arm_gazebo/l_arm.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/l_arm.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/arm_gazebo/l_arm.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -4,7 +4,7 @@
<param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/l_arm.xacro.xml'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
<!-- start arm controller -->
<!--
Modified: pkg/trunk/demos/arm_gazebo/l_gripper.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/l_gripper.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/arm_gazebo/l_gripper.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -4,7 +4,7 @@
<param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/l_gripper.xacro.xml'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
<!-- start arm controller -->
<!--
Modified: pkg/trunk/demos/arm_gazebo/r_arm.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/r_arm.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/arm_gazebo/r_arm.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -4,7 +4,7 @@
<param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_arm.xacro.xml'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
<!-- start arm controller -->
<!--
Modified: pkg/trunk/demos/arm_gazebo/r_arm_grasping_demo.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/r_arm_grasping_demo.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/arm_gazebo/r_arm_grasping_demo.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -12,7 +12,7 @@
<param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_arm.xacro.xml'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
<!-- start arm controller -->
<!--
@@ -39,7 +39,7 @@
<!--include file="$(find arm_gazebo)/tests/debug_plot.launch"/-->
<param name="table_description" command="$(find xacro)/xacro.py '$(find examples_gazebo)/table_defs/table_defs.xml'" />
- <node pkg="gazebo_plugin" type="urdf2factory" args="table_description 0 0 0.01 0 0 0 table_model" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="urdf2factory" args="table_description 0 0 0.01 0 0 0 table_model" respawn="false" output="screen" />
<include file="$(find examples_gazebo)/coffee_cup.launch" />
</launch>
Modified: pkg/trunk/demos/arm_gazebo/r_gripper.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/r_gripper.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/arm_gazebo/r_gripper.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -4,7 +4,7 @@
<param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_gripper.xacro.xml'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
<!-- start arm controller -->
<!--
Modified: pkg/trunk/demos/arm_gazebo/scripts/test_launch_order.tcsh
===================================================================
--- pkg/trunk/demos/arm_gazebo/scripts/test_launch_order.tcsh 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/arm_gazebo/scripts/test_launch_order.tcsh 2009-08-02 21:02:43 UTC (rev 20444)
@@ -17,7 +17,7 @@
python ./setparam.py
echo "----------------urdf2factory"
-`rospack find gazebo_plugin`/urdf2factory "robot_description"
+`rospack find gazebo_tools`/urdf2factory "robot_description"
echo "----------------spawn controller"
`rospack find mechanism_control`/scripts/mech.py sp `rospack find arm_gazebo`/r_arm_default_controller.xml
Modified: pkg/trunk/demos/arm_gazebo/tests/r_arm_constraint.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/tests/r_arm_constraint.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/arm_gazebo/tests/r_arm_constraint.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -18,7 +18,7 @@
<param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_arm.xacro.xml'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
<!-- start arm controller -->
Modified: pkg/trunk/demos/arm_gazebo/tests/r_arm_spacenav.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/tests/r_arm_spacenav.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/arm_gazebo/tests/r_arm_spacenav.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -11,7 +11,7 @@
<param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_arm.xacro.xml'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
<!-- start arm controller -->
<!-- tried to revive, copied into arm_gazebo from arm_life_test, but controller breaks. -->
@@ -19,6 +19,6 @@
<node pkg="spacenav_node" type="spacenav_node" args="" respawn="false" output="screen" />
<param name="table_description" command="$(find xacro)/xacro.py '$(find examples_gazebo)/table_defs/table_defs.xml'" />
- <node pkg="gazebo_plugin" type="urdf2factory" args="table_description" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="urdf2factory" args="table_description" respawn="false" output="screen" />
</launch>
Modified: pkg/trunk/demos/door_demos_gazebo/door_defs/Makefile
===================================================================
--- pkg/trunk/demos/door_demos_gazebo/door_defs/Makefile 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/door_demos_gazebo/door_defs/Makefile 2009-08-02 21:02:43 UTC (rev 20444)
@@ -1,5 +1,5 @@
XACRO = `rospack find xacro`/xacro.py
-URDF2GAZEBO = `rospack find gazebo_plugin`/urdf2file
+URDF2GAZEBO = `rospack find gazebo_tools`/urdf2file
ROBOT_PATH = `rospack find door_demos_gazebo`/robots
ROBOT = door
Modified: pkg/trunk/demos/door_demos_gazebo/launch/door_only_test.launch
===================================================================
--- pkg/trunk/demos/door_demos_gazebo/launch/door_only_test.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/door_demos_gazebo/launch/door_only_test.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -6,7 +6,7 @@
<param name="door_description" command="$(find xacro)/xacro.py '$(find door_demos_gazebo)/robots/door_only.xacro.xml'" />
<!-- push door_description to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="door_description" respawn="false" output="screen" /> <!-- load default arm controller -->
+ <node pkg="gazebo_tools" type="urdf2factory" args="door_description" respawn="false" output="screen" /> <!-- load default arm controller -->
<!-- load door controllers -->
<node pkg="mechanism_control" type="spawner.py" args="$(find door_demos_gazebo)/door_defs/door_controllers.xml" respawn="false" output="screen" />
Modified: pkg/trunk/demos/door_demos_gazebo/launch/pr2_and_door.launch
===================================================================
--- pkg/trunk/demos/door_demos_gazebo/launch/pr2_and_door.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/door_demos_gazebo/launch/pr2_and_door.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -5,7 +5,7 @@
<!-- load pr2 -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
- <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
<!-- Robot state publisher -->
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
@@ -16,7 +16,7 @@
<!-- load door -->
<param name="door_description" command="$(find xacro)/xacro.py '$(find door_demos_gazebo)/door_defs/door_defs.xml'" />
- <node pkg="gazebo_plugin" type="urdf2factory" args="door_description 0 0 0 0 0 0 doorbot" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="urdf2factory" args="door_description 0 0 0 0 0 0 doorbot" respawn="false" output="screen" />
<!-- load door and handle controllers
<node pkg="mechanism_control" type="spawner.py" args="$(find door_demos_gazebo)/door_defs/door_controllers.xml" respawn="false" output="screen" />
Modified: pkg/trunk/demos/erratic_gazebo/erratic_demo.launch
===================================================================
--- pkg/trunk/demos/erratic_gazebo/erratic_demo.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/erratic_gazebo/erratic_demo.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -16,7 +16,7 @@
</node>
<!-- push robot_description to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
<!-- load controllers -->
<node pkg="gazebo_plugin" type="ros_diffdrive" respawn="true" output="screen"/>
Modified: pkg/trunk/demos/examples_gazebo/coffee_cup.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/coffee_cup.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/examples_gazebo/coffee_cup.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -4,7 +4,7 @@
<param name="coffee_cup" textfile="$(find gazebo_worlds)/objects/coffee_cup.model" />
<!-- push urdf to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="xml2factory" args="coffee_cup 1 -0.22 .84 0 0 0 coffee_cup" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="xml2factory" args="coffee_cup 1 -0.22 .84 0 0 0 coffee_cup" respawn="false" output="screen" />
</launch>
Modified: pkg/trunk/demos/examples_gazebo/cups.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/cups.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/examples_gazebo/cups.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -7,10 +7,10 @@
<param name="coffee_cup" textfile="$(find gazebo_worlds)/objects/coffee_cup.model" />
<!-- push urdf to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="xml2factory" args="ikea_cup 0 -.8 0 0 0 0 ikea_cup" respawn="false" output="screen" />
- <node pkg="gazebo_plugin" type="xml2factory" args="wine 1 0.0 0 0 0 0 wine" respawn="false" output="screen" />
- <node pkg="gazebo_plugin" type="xml2factory" args="bowl 0 0.0 0 0 0 0 bowl" respawn="false" output="screen" />
- <node pkg="gazebo_plugin" type="xml2factory" args="coffee_cup 0 .8 0 0 0 0 coffee_cup" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="xml2factory" args="ikea_cup 0 -.8 0 0 0 0 ikea_cup" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="xml2factory" args="wine 1 0.0 0 0 0 0 wine" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="xml2factory" args="bowl 0 0.0 0 0 0 0 bowl" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="xml2factory" args="coffee_cup 0 .8 0 0 0 0 coffee_cup" respawn="false" output="screen" />
</launch>
Modified: pkg/trunk/demos/examples_gazebo/cups2.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/cups2.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/examples_gazebo/cups2.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -6,10 +6,10 @@
<param name="coffee_cup" textfile="$(find gazebo_worlds)/objects/coffee_cup.model" />
<!-- push urdf to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="xml2factory" args="ikea_cup 0 -.8 0 0 0 0 ikea_cup" respawn="false" output="screen" />
- <node pkg="gazebo_plugin" type="xml2factory" args="wine 2 0.0 0 0 0 0 wine" respawn="false" output="screen" />
- <node pkg="gazebo_plugin" type="xml2factory" args="bowl 0 0.0 0 0 0 0 bowl" respawn="false" output="screen" />
- <node pkg="gazebo_plugin" type="xml2factory" args="coffee_cup 0 .8 0 0 0 0 coffee_cup" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="xml2factory" args="ikea_cup 0 -.8 0 0 0 0 ikea_cup" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="xml2factory" args="wine 2 0.0 0 0 0 0 wine" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="xml2factory" args="bowl 0 0.0 0 0 0 0 bowl" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="xml2factory" args="coffee_cup 0 .8 0 0 0 0 coffee_cup" respawn="false" output="screen" />
</launch>
Modified: pkg/trunk/demos/examples_gazebo/dual_link.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/dual_link.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/examples_gazebo/dual_link.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -3,7 +3,7 @@
<param name="robot_description" command="$(find xacro)/xacro.py '$(find examples_gazebo)/dual_link_defs/dual_link.xml'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
<!--node pkg="mechanism_control" type="mech.py" args="sp $(find examples_gazebo)/dual_link_defs/controllers_dual_link.xml" respawn="false" output="screen" /-->
<!--node pkg="robot_mechanism_controllers" type="control.py" args="set test_controller 0.5" respawn="false" output="screen" /--> <!-- open gripper .5 radians -->
Modified: pkg/trunk/demos/examples_gazebo/dual_link_defs/Makefile
===================================================================
--- pkg/trunk/demos/examples_gazebo/dual_link_defs/Makefile 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/examples_gazebo/dual_link_defs/Makefile 2009-08-02 21:02:43 UTC (rev 20444)
@@ -1,5 +1,5 @@
XACRO = `rospack find xacro`/xacro.py
-URDF2GAZEBO = `rospack find gazebo_plugin`/bin/urdf2file
+URDF2GAZEBO = `rospack find gazebo_tools`/bin/urdf2file
MODEL_FILE = `rospack find examples_gazebo`
ROBOT = dual_link
Modified: pkg/trunk/demos/examples_gazebo/multi_link.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/multi_link.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/examples_gazebo/multi_link.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -3,7 +3,7 @@
<param name="robot_description" command="$(find xacro)/xacro.py '$(find examples_gazebo)/multi_link_defs/multi_link.xml'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
<node pkg="mechanism_control" type="mech.py" args="sp $(find examples_gazebo)/multi_link_defs/controllers_multi_link_zero_gains.xml" respawn="false" output="screen" />
<!--node pkg="robot_mechanism_controllers" type="control.py" args="set test_controller 0.5" respawn="false" output="screen" /--> <!-- open gripper .5 radians -->
Modified: pkg/trunk/demos/examples_gazebo/multi_link_defs/Makefile
===================================================================
--- pkg/trunk/demos/examples_gazebo/multi_link_defs/Makefile 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/examples_gazebo/multi_link_defs/Makefile 2009-08-02 21:02:43 UTC (rev 20444)
@@ -1,5 +1,5 @@
XACRO = `rospack find xacro`/xacro.py
-URDF2GAZEBO = `rospack find gazebo_plugin`/bin/urdf2file
+URDF2GAZEBO = `rospack find gazebo_tools`/bin/urdf2file
MODEL_FILE = `rospack find examples_gazebo`
ROBOT = multi_link
Modified: pkg/trunk/demos/examples_gazebo/simple_box.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/simple_box.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/examples_gazebo/simple_box.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -1,6 +1,6 @@
<launch>
<!-- send simple_box.xml to param server -->
<param name="simple_box" command="$(find xacro)/xacro.py '$(find examples_gazebo)/simple_rdf_examples/simple_box.xml'" />
- <node pkg="gazebo_plugin" type="urdf2factory" args="simple_box" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="urdf2factory" args="simple_box" respawn="false" output="screen" />
</launch>
Modified: pkg/trunk/demos/examples_gazebo/simple_cylinder.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/simple_cylinder.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/examples_gazebo/simple_cylinder.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -1,6 +1,6 @@
<launch>
<!-- send simple_cylinder.xml to param server -->
<param name="simple_cylinder" command="$(find xacro)/xacro.py '$(find examples_gazebo)/simple_rdf_examples/simple_cylinder.xml'" />
- <node pkg="gazebo_plugin" type="urdf2factory" args="simple_cylinder" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="urdf2factory" args="simple_cylinder" respawn="false" output="screen" />
</launch>
Modified: pkg/trunk/demos/examples_gazebo/simple_sphere.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/simple_sphere.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/examples_gazebo/simple_sphere.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -1,6 +1,6 @@
<launch>
<!-- send simple_sphere.xml to param server -->
<param name="simple_sphere" command="$(find xacro)/xacro.py '$(find examples_gazebo)/simple_rdf_examples/simple_sphere.xml'" />
- <node pkg="gazebo_plugin" type="urdf2factory" args="simple_sphere" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="urdf2factory" args="simple_sphere" respawn="false" output="screen" />
</launch>
Modified: pkg/trunk/demos/examples_gazebo/single_link.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/single_link.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/examples_gazebo/single_link.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -3,7 +3,7 @@
<param name="robot_description" command="$(find xacro)/xacro.py '$(find examples_gazebo)/single_link_defs/single_link.xml'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
<node pkg="mechanism_control" type="spawner.py" args="$(find examples_gazebo)/single_link_defs/controllers_single_link.xml" respawn="false" output="screen" />
Modified: pkg/trunk/demos/examples_gazebo/single_link_defs/Makefile
===================================================================
--- pkg/trunk/demos/examples_gazebo/single_link_defs/Makefile 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/examples_gazebo/single_link_defs/Makefile 2009-08-02 21:02:43 UTC (rev 20444)
@@ -1,5 +1,5 @@
XACRO = `rospack find xacro`/xacro.py
-URDF2GAZEBO = `rospack find gazebo_plugin`/bin/urdf2file
+URDF2GAZEBO = `rospack find gazebo_tools`/bin/urdf2file
MODEL_FILE = `rospack find examples_gazebo`
ROBOT = single_link
Modified: pkg/trunk/demos/examples_gazebo/table.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/table.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/examples_gazebo/table.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -3,6 +3,6 @@
<param name="table_description" command="$(find xacro)/xacro.py '$(find examples_gazebo)/table_defs/table.xml'" />
<!-- push table_description to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="table_description" respawn="false" output="screen" /> <!-- load default arm controller -->
+ <node pkg="gazebo_tools" type="urdf2factory" args="table_description" respawn="false" output="screen" /> <!-- load default arm controller -->
</launch>
Modified: pkg/trunk/demos/examples_gazebo/table_defs/Makefile
===================================================================
--- pkg/trunk/demos/examples_gazebo/table_defs/Makefile 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/examples_gazebo/table_defs/Makefile 2009-08-02 21:02:43 UTC (rev 20444)
@@ -1,5 +1,5 @@
XACRO = `rospack find xacro`/xacro.py
-URDF2GAZEBO = `rospack find gazebo_plugin`/bin/urdf2file
+URDF2GAZEBO = `rospack find gazebo_tools`/bin/urdf2file
MODEL_FILE = `rospack find examples_gazebo`
ROBOT = table
Modified: pkg/trunk/demos/examples_gazebo/tables.launch
===================================================================
--- pkg/trunk/demos/examples_gazebo/tables.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/examples_gazebo/tables.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -3,8 +3,8 @@
<param name="desk1_model" textfile="$(find gazebo_worlds)/objects/desk1.model" />
<param name="desk2_model" textfile="$(find gazebo_worlds)/objects/desk2.model" />
<param name="desk3_model" textfile="$(find gazebo_worlds)/objects/desk3.model" />
- <node pkg="gazebo_plugin" type="xml2factory" args="desk1_model -2.0 -12.0 0.0 0 0 0 desk1_model" respawn="false" output="screen" />
- <node pkg="gazebo_plugin" type="xml2factory" args="desk2_model -11.0 2.5 0.0 0 0 0 desk2_model" respawn="false" output="screen" />
- <node pkg="gazebo_plugin" type="xml2factory" args="desk3_model -4.0 -12.0 0.0 0 0 0 desk3_model" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="xml2factory" args="desk1_model -2.0 -12.0 0.0 0 0 0 desk1_model" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="xml2factory" args="desk2_model -11.0 2.5 0.0 0 0 0 desk2_model" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="xml2factory" args="desk3_model -4.0 -12.0 0.0 0 0 0 desk3_model" respawn="false" output="screen" />
</launch>
Modified: pkg/trunk/demos/plug_in_gazebo/launch/plug_outlet.launch
===================================================================
--- pkg/trunk/demos/plug_in_gazebo/launch/plug_outlet.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/plug_in_gazebo/launch/plug_outlet.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -4,9 +4,9 @@
<!-- send plug_only.xml to param server and spawn robot-->
<param name="plug_description" command="$(find xacro)/xacro.py '$(find plug_in_gazebo)/robots/plug_only.xacro.xml'" />
- <node pkg="gazebo_plugin" type="urdf2factory" args="plug_description 0 0 0 0 0 0 plug" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="urdf2factory" args="plug_description 0 0 0 0 0 0 plug" respawn="false" output="screen" />
<param name="outlet_description" command="$(find xacro)/xacro.py '$(find plug_in_gazebo)/robots/outlet_only.xacro.xml'" />
- <node pkg="gazebo_plugin" type="urdf2factory" args="outlet_description" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="urdf2factory" args="outlet_description" respawn="false" output="screen" />
</launch>
Modified: pkg/trunk/demos/plug_in_gazebo/launch/pr2_plug_outlet.launch
===================================================================
--- pkg/trunk/demos/plug_in_gazebo/launch/pr2_plug_outlet.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/plug_in_gazebo/launch/pr2_plug_outlet.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -5,13 +5,13 @@
<!-- send pr2.xml to param server -->
<!-- push urdfs to factory and spawn robot in gazebo -->
<param ns="pr2" name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prf.xacro.xml'" />
- <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
<param name="plug_description" command="$(find xacro)/xacro.py '$(find plug_in_gazebo)/robots/plug_only.xacro.xml'" />
- <node pkg="gazebo_plugin" type="urdf2factory" args="plug_description 0 0 0 0 0 0 plug" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="urdf2factory" args="plug_description 0 0 0 0 0 0 plug" respawn="false" output="screen" />
<param name="outlet_description" command="$(find xacro)/xacro.py '$(find plug_in_gazebo)/robots/outlet_only.xacro.xml'" />
- <node pkg="gazebo_plugin" type="urdf2factory" args="outlet_description 0 0 0 0 0 0 outlet" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="urdf2factory" args="outlet_description 0 0 0 0 0 0 outlet" respawn="false" output="screen" />
<!--node pkg="pr2_mechanism_controllers" type="tuckarm.py" args="l" output="screen" /-->
Modified: pkg/trunk/demos/plug_in_gazebo/plug_defs/Makefile
===================================================================
--- pkg/trunk/demos/plug_in_gazebo/plug_defs/Makefile 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/plug_in_gazebo/plug_defs/Makefile 2009-08-02 21:02:43 UTC (rev 20444)
@@ -1,5 +1,5 @@
XACRO = `rospack find xacro`/xacro.py
-URDF2GAZEBO = `rospack find gazebo_plugin`/urdf2file
+URDF2GAZEBO = `rospack find gazebo_tools`/urdf2file
ROBOT_PATH = `rospack find plug_in_gazebo`/robots
ROBOT = plug
Modified: pkg/trunk/demos/pr2_gazebo/coffee_cup.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/coffee_cup.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/pr2_gazebo/coffee_cup.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -4,7 +4,7 @@
<param name="coffee_cup" textfile="$(find gazebo_worlds)/objects/coffee_cup.model" />
<!-- push urdf to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="xml2factory" args="coffee_cup 1 -0.22 .84 0 0 0 coffee_cup" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="xml2factory" args="coffee_cup 1 -0.22 .84 0 0 0 coffee_cup" respawn="false" output="screen" />
</launch>
Modified: pkg/trunk/demos/pr2_gazebo/head_cart.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/head_cart.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/pr2_gazebo/head_cart.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -3,7 +3,7 @@
<param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/hca.xacro.xml'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
<!-- Robot state publisher -->
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
Modified: pkg/trunk/demos/pr2_gazebo/pr2.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/pr2_gazebo/pr2.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -4,7 +4,7 @@
<param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
<!-- Robot state publisher -->
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" output="screen">
Modified: pkg/trunk/demos/pr2_gazebo/prf.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/prf.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/pr2_gazebo/prf.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -4,7 +4,7 @@
<param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prf.xacro.xml'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
<!-- Robot state publisher -->
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" output="screen">
Modified: pkg/trunk/demos/pr2_gazebo/prototype1.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/prototype1.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/pr2_gazebo/prototype1.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -4,7 +4,7 @@
<param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prototype1.xacro.xml'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description 0 0 0 0 0 0 prototype1_model" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description 0 0 0 0 0 0 prototype1_model" respawn="false" output="screen" />
<!-- Joystick uncomment if you have joystick
<param name="joy/deadzone" value="5000"/>
Modified: pkg/trunk/demos/pr2_gazebo/test_grasping.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/test_grasping.launch 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/demos/pr2_gazebo/test_grasping.launch 2009-08-02 21:02:43 UTC (rev 20444)
@@ -7,14 +7,14 @@
<!-- table -->
<param name="desk3" textfile="$(find gazebo_worlds)/objects/desk3.model" />
- <node pkg="gazebo_plugin" type="xml2factory" args="desk3 1.0 0.0 0.0 0 0 0 desk3" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="xml2factory" args="desk3 1.0 0.0 0.0 0 0 0 desk3" respawn="false" output="screen" />
<!-- cups -->
<param name="000_580_67" textfile="$(find gazebo_worlds)/objects/000.580.67.model" />
<param name="001_327_79" textfile="$(find gazebo_worlds)/objects/001.327.79.model" />
<param name="701_330_68" textfile="$(find gazebo_worlds)/objects/701.330.68.model" />
- <node pkg="gazebo_plugin" type="xml2factory" args="000_580_67 1.0 0.0 0.56 0 0 0 000_580_67" respawn="false" output="screen" />
- <node pkg="gazebo_plugin" type="xml2factory" args="001_327_79 1.0 -0.5 0.56 0 0 0 001_327_79" respawn="false" output="screen" />
- <node pkg="gazebo_plugin" type="xml2factory" args="701_330_68 1.0 0.5 0.56 0 0 0 701_330_68" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="xml2factory" args="000_580_67 1.0 0.0 0.56 0 0 0 000_580_67" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="xml2factory" args="001_327_79 1.0 -0.5 0.56 0 0 0 001_327_79" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="xml2factory" args="701_330_68 1.0 0.5 0.56 0 0 0 701_330_68" respawn="false" output="screen" />
</launch>
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/CMakeLists.txt
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/CMakeLists.txt 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/CMakeLists.txt 2009-08-02 21:02:43 UTC (rev 20444)
@@ -42,22 +42,6 @@
rospack_add_library(ros_prosilica src/ros_prosilica.cpp)
rospack_link_boost(ros_prosilica thread)
-
-
-
rospack_add_executable(bin/ros_diffdrive src/ros_diffdrive.cpp)
rospack_link_boost(bin/ros_diffdrive thread)
-rospack_add_library(urdf2gazebo src/urdf2gazebo.cpp)
-
-rospack_add_executable(bin/remove_model src/remove_model.cpp)
-target_link_libraries(bin/remove_model)
-
-rospack_add_executable(bin/xml2factory src/xml2factory.cpp)
-target_link_libraries(bin/xml2factory)
-
-rospack_add_executable(bin/urdf2factory src/urdf2factory.cpp)
-target_link_libraries(bin/urdf2factory urdf2gazebo)
-
-rospack_add_executable(bin/urdf2file src/urdf2file.cpp)
-target_link_libraries(bin/urdf2file urdf2gazebo)
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/doc.dox
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/doc.dox 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/doc.dox 2009-08-02 21:02:43 UTC (rev 20444)
@@ -29,7 +29,7 @@
<param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen" /> <!-- load default arm controller -->
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen" /> <!-- load default arm controller -->
</launch>
@endverbatim
@@ -44,7 +44,7 @@
@verbatim
$ rosmake gazebo_plugin
$ rosmake pr2_defs
- $ rosrun gazebo_plugin urdf2file `rospack find pr2_defs`/robots/pr2.expanded.xml `rospack find pr2_defs`/robots/pr2.model
+ $ rosrun gazebo_tools urdf2file `rospack find pr2_defs`/robots/pr2.expanded.xml `rospack find pr2_defs`/robots/pr2.model
@endverbatim
thus generating \b ros-pkg/.../pr2_defs/robots/pr2.model in Gazebo xml format.
Deleted: pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/urdf2gazebo.h
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/urdf2gazebo.h 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/urdf2gazebo.h 2009-08-02 21:02:43 UTC (rev 20444)
@@ -1,85 +0,0 @@
-/*********************************************************************
-* Software License Agreement (BSD License)
-*
-* Copyright (c) 2008, Willow Garage, Inc.
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions
-* are met:
-*
-* * Redistributions of source code must retain the above copyright
-* notice, this list of conditions and the following disclaimer.
-* * Redistributions in binary form must reproduce the above
-* copyright notice, this list of conditions and the following
-* disclaimer in the documentation and/or other materials provided
-* with the distribution.
-* * Neither the name of the Willow Garage nor the names of its
-* contributors may be used to endorse or promote products derived
-* from this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-#ifndef URDF2GAZEBO_HH
-#define URDF2GAZEBO_HH
-
-#include <cstdio>
-#include <cstdlib>
-#include <cmath>
-
-#include <vector>
-#include <string>
-
-#include <sstream>
-
-#include <urdf/URDF.h>
-
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btVector3.h"
-
-namespace urdf2gazebo
-{
- double rad2deg(double v) { return v * 180.0 / M_PI; };
- class URDF2Gazebo
- {
- public:
- URDF2Gazebo();
- URDF2Gazebo(std::string robot_model_name);
- ~URDF2Gazebo();
-
- std::string values2str(unsigned int count, const double *values, double (*conv)(double));
-
- void setupTransform(btTransform &transform, const double *xyz, const double *rpy);
-
- void addKeyValue(TiXmlElement *elem, const std::string& key, const std::string &value);
-
- void addTransform(TiXmlElement *elem, const::btTransform& transform);
-
- void copyGazeboMap(const robot_desc::URDF::Map& data, TiXmlElement *elem, const std::vector<std::string> *tags);
-
- void copyOgreMap(const robot_desc::URDF::Map& data, TiXmlElement *elem, const std::vector<std::string> *tags);
-
- std::string getGeometrySize(robot_desc::URDF::Link::Geometry* geometry, int *sizeCount, double *sizeVals);
-
- std::string getGeometryBoundingBox(robot_desc::URDF::Link::Geometry* geometry, double *sizeVals);
-
- void convertLink(TiXmlElement *root, robot_desc::URDF::Link *link, const btTransform &transform, bool enforce_limits);
-
- void convert(robot_desc::URDF &wgxml, TiXmlDocument &doc, bool enforce_limits);
-
- std::string robot_model_name_;
- };
-}
-
-#endif
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/manifest.xml
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/manifest.xml 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/manifest.xml 2009-08-02 21:02:43 UTC (rev 20444)
@@ -31,7 +31,6 @@
<depend package="tinyxml" />
<depend package="bullet" />
<depend package="wg_robot_description_parser" />
- <depend package="robot_model" />
<depend package="axis_cam" />
<export>
<cpp cflags="-I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib" />
Deleted: pkg/trunk/drivers/simulator/gazebo_plugin/src/remove_model.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/remove_model.cpp 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/remove_model.cpp 2009-08-02 21:02:43 UTC (rev 20444)
@@ -1,114 +0,0 @@
-/*********************************************************************
-* Software License Agreement (BSD License)
-*
-* Copyright (c) 2008, Willow Garage, Inc.
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions
-* are met:
-*
-* * Redistributions of source code must retain the above copyright
-* notice, this list of conditions and the following disclaimer.
-* * Redistributions in binary form must reproduce the above
-* copyright notice, this list of conditions and the following
-* disclaimer in the documentation and/or other materials provided
-* with the distribution.
-* * Neither the name of the Willow Garage nor the names of its
-* contributors may be used to endorse or promote products derived
-* from this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-#include <cstdio>
-#include <cstdlib>
-
-#include <string>
-#include <sstream>
-
-#include <gazebo/gazebo.h>
-#include <gazebo/GazeboError.hh>
-
-#include "ros/ros.h"
-
-void usage(const char *progname)
-{
- printf("\nUsage: %s gazebo_model_name\n", progname);
-}
-
-int main(int argc, char **argv)
-{
- if (argc < 2)
- {
- usage(argv[0]);
- exit(1);
- }
-
- std::string robot_model_name(argv[1]);
-
- // connect to gazebo
- gazebo::Client *client = new gazebo::Client();
- gazebo::FactoryIface *factoryIface = new gazebo::FactoryIface();
-
- int serverId = 0;
-
- bool connected_to_server = false;
- /// Connect to the libgazebo server
- while (!connected_to_server)
- {
- try
- {
- client->ConnectWait(serverId, GZ_CLIENT_ID_USER_FIRST);
- connected_to_server = true;
- }
- catch (gazebo::GazeboError e)
- {
- ROS_ERROR("Gazebo error: Unable to connect\n %s\n",e.GetErrorStr().c_str());
- usleep(1000000);
- connected_to_server = false;
- }
- }
-
- /// @todo: hack, waiting for system to startup, find out why ConnectWait goes through w/o locking in gazebo
- usleep(2000000);
-
- /// Open the Factory interface
- try
- {
- factoryIface->Open(client, "default");
- }
- catch (gazebo::GazeboError e)
- {
- ROS_ERROR("Gazebo error: Unable to connect to the factory interface\n%s\n",e.GetErrorStr().c_str());
- return -1;
- }
-
- bool writing_iface = true;
- while (writing_iface)
- {
- factoryIface->Lock(1);
- if (strcmp((char*)factoryIface->data->deleteModel,"")==0)
- {
- ROS_INFO("Deleting Robot Model Name:%s in Gazebo\n",robot_model_name.c_str());
- // don't overwrite data, only write if iface data is empty
- strcpy((char*)factoryIface->data->deleteModel, robot_model_name.c_str());
- writing_iface = false;
- }
- factoryIface->Unlock();
- }
-
- return 0;
-}
-
Deleted: pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2factory.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2factory.cpp 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2factory.cpp 2009-08-02 21:02:43 UTC (rev 20444)
@@ -1,221 +0,0 @@
-/*********************************************************************
-* Software License Agreement (BSD License)
-*
-* Copyright (c) 2008, Willow Garage, Inc.
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions
-* are met:
-*
-* * Redistributions of source code must retain the above copyright
-* notice, this list of conditions and the following disclaimer.
-* * Redistributions in binary form must reproduce the above
-* copyright notice, this list of conditions and the following
-* disclaimer in the documentation and/or other materials provided
-* with the distribution.
-* * Neither the name of the Willow Garage nor the names of its
-* contributors may be used to endorse or promote products derived
-* from this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-#include <cstdio>
-#include <cstdlib>
-
-#include <string>
-#include <sstream>
-
-#include <gazebo/gazebo.h>
-#include <gazebo/GazeboError.hh>
-
-#include "ros/ros.h"
-
-#include <urdf/URDF.h>
-
-#include <gazebo_plugin/urdf2gazebo.h>
-
-using namespace urdf2gazebo;
-
-void usage(const char *progname)
-{
- printf("\nUsage: %s urdf_param_name [initial x y z roll pitch yaw gazebo_model_name]\n", progname);
- printf(" For example: urdf2factory robot_description 0 0 1 0 0 90 pr3_model\n\n");
- printf(" Note: gazebo_model_name defaults to the robot description parameter.\n\n");
-}
-
-int main(int argc, char **argv)
-{
- if (argc < 2)
- {
- usage(argv[0]);
- exit(1);
- }
-
- double initial_x = 0;
- double initial_y = 0;
- double initial_z = 0;
- if (argc >= 5)
- {
- initial_x = atof(argv[2]);
- initial_y = atof(argv[3]);
- initial_z = atof(argv[4]);
- }
- double initial_rx = 0;
- double initial_ry = 0;
- double initial_rz = 0;
- if (argc >= 8)
- {
- initial_rx = atof(argv[5]);
- initial_ry = atof(argv[6]);
- initial_rz = atof(argv[7]);
- }
-
- std::string robot_model_name(argv[1]);
- // make sure this is not the ros-generated commandline log filename
- if (argc >= 9)
- {
- std::string name = std::string(argv[8]);
- ROS_DEBUG("Model Name: %s %d\n",name.c_str(),name.find(std::string("__log:")));
- if (name.find(std::string("__log:")) == -1)
- robot_model_name = name;
- }
- // get rid of slahses
- std::replace(robot_model_name.begin(),robot_model_name.end(),'/','_');
-
-
- // connect to gazebo
- gazebo::Client *client = new gazebo::Client();
- gazebo::FactoryIface *factoryIface = new gazebo::FactoryIface();
-
- int serverId = 0;
-
- bool connected_to_server = false;
- /// Connect to the libgazebo server
- while (!connected_to_server)
- {
- try
- {
- ROS_INFO("urdf2factory waiting for gazebo factory, usually launched by 'roslaunch `rospack find gazebo`/launch/empty_world.launch'");
- client->ConnectWait(serverId, GZ_CLIENT_ID_USER_FIRST);
- connected_to_server = true;
- }
- catch (gazebo::GazeboError e)
- {
- ROS_ERROR("Gazebo error: Unable to connect\n %s\n",e.GetErrorStr().c_str());
- usleep(1000000);
- connected_to_server = false;
- }
- }
-
- /// @todo: hack, waiting for system to startup, find out why ConnectWait goes through w/o locking in gazebo
- usleep(2000000);
-
- /// Open the Factory interface
- try
- {
- factoryIface->Open(client, "default");
- }
- catch (gazebo::GazeboError e)
- {
- ROS_ERROR("Gazebo error: Unable to connect to the factory interface\n%s\n",e.GetErrorStr().c_str());
- return -1;
- }
-
- // Load parameter server string for pr2 robot description
- ros::init(argc,argv,"urdf2factory",ros::init_options::AnonymousName);
- ros::NodeHandle rosnode;
- ROS_INFO("-------------------- starting node for pr2 param server factory \n");
-
- std::string urdf_param_name = std::string(argv[1]);
- std::string full_urdf_param_name;
- rosnode.searchParam(urdf_param_name,full_urdf_param_name);
- std::string xml_content;
- rosnode.getParam(full_urdf_param_name.c_str(),xml_content);
- ROS_DEBUG("%s content\n%s\n", full_urdf_param_name.c_str(), xml_content.c_str());
-
- // Parse URDF from param server
- bool enforce_limits = true;
- robot_desc::URDF wgxml;
- if (!wgxml.loadString(xml_content.c_str()))
- {
- ROS_ERROR("Unable to load robot model from param server robot_description\n");
- exit(2);
- }
-
-
- //
- // init a parser library
- //
- URDF2Gazebo u2g(robot_model_name);
- // do the number crunching to make gazebo.model file
- TiXmlDocument doc;
- u2g.convert(wgxml, doc, enforce_limits);
-
- //std::cout << " doc " << doc << std::endl << std::endl;
-
- // copy model to a string
- std::ostringstream stream;
- stream << doc;
- std::string xml_string = stream.str();
-
- // strip <? ... xml version="1.0" ... ?> from xml_string
- std::string open_bracket("<?");
- std::string close_bracket("?>");
- int pos1 = xml_string.find(open_bracket,0);
- int pos2 = xml_string.find(close_bracket,0);
- xml_string.replace(pos1,pos2-pos1+2,std::string(""));
-
- // replace initial pose of robot
- // find first instance of xyz and rpy, replace with initial pose
- if (argc >= 5)
- {
- std::ostringstream xyz_stream, rpy_stream;
- xyz_stream << "<xyz>" << initial_x << " " << initial_y << " " << initial_z << "</xyz>";
- int xyz_pos1 = xml_string.find("<xyz>" ,0);
- int xyz_pos2 = xml_string.find("</xyz>",0);
- if (xyz_pos1 != -1 && xyz_pos2 != -1)
- xml_string.replace(xyz_pos1,xyz_pos2-xyz_pos1+6,std::string(xyz_stream.str()));
- if (argc == 8)
- {
- rpy_stream << "<rpy>" << initial_rx << " " << initial_ry << " " << initial_rz << "</rpy>";
- int rpy_pos1 = xml_string.find("<rpy>" ,0);
- int rpy_pos2 = xml_string.find("</rpy>",0);
- if (rpy_pos1 != -1 && rpy_pos2 != -1)
- xml_string.replace(rpy_pos1,rpy_pos2-rpy_pos1+6,std::string(rpy_stream.str()));
- }
- }
-
- //std::cout << " ------------------- xml ------------------- " << std::endl;
- ROS_DEBUG("converted to gazebo format\n%s\n",xml_string.c_str());
- //std::cout << " ------------------- xml ------------------- " << std::endl;
-
- bool writing_iface = true;
- while (writing_iface)
- {
- factoryIface->Lock(1);
- if (strcmp((char*)factoryIface->data->newModel,"")==0)
- {
- ROS_INFO("Creating Robot Model Name:%s in Gazebo\n",robot_model_name.c_str());
- // don't overwrite data, only write if iface data is empty
- strcpy((char*)factoryIface->data->newModel, xml_string.c_str());
- writing_iface = false;
- }
- factoryIface->Unlock();
- }
-
- return 0;
-}
-
Deleted: pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2file.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2file.cpp 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2file.cpp 2009-08-02 21:02:43 UTC (rev 20444)
@@ -1,88 +0,0 @@
-/*********************************************************************
-* Software License Agreement (BSD License)
-*
-* Copyright (c) 2008, Willow Garage, Inc.
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions
-* are met:
-*
-* * Redistributions of source code must retain the above copyright
-* notice, this list of conditions and the following disclaimer.
-* * Redistributions in binary form must reproduce the above
-* copyright notice, this list of conditions and the following
-* disclaimer in the documentation and/or other materials provided
-* with the distribution.
-* * Neither the name of the Willow Garage nor the names of its
-* contributors may be used to endorse or promote products derived
-* from this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-#include <cstdio>
-#include <cstdlib>
-#include <cmath>
-
-#include <urdf/URDF.h>
-
-#include <gazebo_plugin/urdf2gazebo.h>
-
-using namespace urdf2gazebo;
-
-void usage(const char *progname)
-{
- printf("\nUsage: %s URDF.xml Gazebo.model\n", progname);
- printf(" where URDF.xml is the file containing a robot description in the Willow Garage format (URDF)\n");
- printf(" and Gazebo.model is the file where the Gazebo model should be written\n\n");
-}
-
-int main(int argc, char **argv)
-{
- if (argc < 3)
- {
- usage(argv[0]);
- exit(1);
- }
-
- // Experimental: take in optional argument to disable passing the limit for grasping test
- bool enforce_limits = true;
- if (argc == 4)
- {
- printf("Not enforcing limits\n");
- enforce_limits = false;
- }
-
- robot_desc::URDF wgxml;
-
- if (!wgxml.loadFile(argv[1]))
- {
- printf("Unable to load robot model from %s\n", argv[1]);
- exit(2);
- }
-
- TiXmlDocument doc;
-
- URDF2Gazebo u2g(std::string("pr2_model"));
- u2g.convert(wgxml, doc, enforce_limits);
-
- if (!doc.SaveFile(argv[2]))
- {
- printf("Unable to save gazebo model in %s\n", argv[2]);
- exit(3);
- }
-
- return 0;
-}
Deleted: pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2gazebo.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2gazebo.cpp 2009-08-02 20:44:59 UTC (rev 20443)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2gazebo.cpp 2009-08-02 21:02:43 UTC (rev 20444)
@@ -1,568 +0,0 @@
-/*********************************************************************
-* Software License Agreement (BSD License)
-*
-* Copyright (c) 2008, Willow Garage, Inc.
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions
-* are met:
-*
-* * Redistrib...
[truncated message content] |
