[Personalrobots-commit] SF.net SVN: personalrobots:[20448] pkg/trunk

[<hsu...@us...>]

Revision: 20448
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=20448&view=rev
Author:   hsujohnhsu
Date:     2009-08-02 21:55:27 +0000 (Sun, 02 Aug 2009)

Log Message:
-----------
update controller launch scripts.
update gazebo test mechanism control.

Modified Paths:
--------------
    pkg/trunk/demos/pr2_gazebo/map_building_demo.launch
    pkg/trunk/demos/pr2_gazebo/multi_level_map_demo.launch
    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
    pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_pr2_mechanism.launch
    pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_pr2_odom.launch
    pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_rostime.launch
    pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/my_hztest.launch
    pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_arm.launch
    pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base.launch

Added Paths:
-----------
    pkg/trunk/demos/arm_gazebo/controllers/l_arm_position_controller.launch
    pkg/trunk/demos/arm_gazebo/controllers/r_arm_position_controller.launch

Added: pkg/trunk/demos/arm_gazebo/controllers/l_arm_position_controller.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/controllers/l_arm_position_controller.launch	                        (rev 0)
+++ pkg/trunk/demos/arm_gazebo/controllers/l_arm_position_controller.launch	2009-08-02 21:55:27 UTC (rev 20448)
@@ -0,0 +1,6 @@
+<launch>
+  <!--  arm controller -->
+  <rosparam file="$(find arm_gazebo)/controllers/l_arm_position_controller.xml" command="load" output="screen"/>
+  <node pkg="mechanism_control" type="spawner.py" args="l_shoulder_pan_controller l_shoulder_lift_controller l_upper_arm_roll_controller l_elbow_flex_controller l_forearm_roll_controller l_wrist_flex_controller l_wrist_roll_controller l_gripper_controller" output="screen"/>
+</launch>
+


Property changes on: pkg/trunk/demos/arm_gazebo/controllers/l_arm_position_controller.launch
___________________________________________________________________
Added: svn:mergeinfo
   + 

Added: pkg/trunk/demos/arm_gazebo/controllers/r_arm_position_controller.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/controllers/r_arm_position_controller.launch	                        (rev 0)
+++ pkg/trunk/demos/arm_gazebo/controllers/r_arm_position_controller.launch	2009-08-02 21:55:27 UTC (rev 20448)
@@ -0,0 +1,5 @@
+<launch>
+  <!--  arm controller -->
+  <rosparam file="$(find arm_gazebo)/controllers/r_arm_position_controller.xml" command="load" output="screen"/>
+  <node pkg="mechanism_control" type="spawner.py" args="r_shoulder_pan_controller r_shoulder_lift_controller r_upper_arm_roll_controller r_elbow_flex_controller r_forearm_roll_controller r_wrist_flex_controller r_wrist_roll_controller r_gripper_controller" output="screen"/>
+


Property changes on: pkg/trunk/demos/arm_gazebo/controllers/r_arm_position_controller.launch
___________________________________________________________________
Added: svn:mergeinfo
   + 

Modified: pkg/trunk/demos/pr2_gazebo/map_building_demo.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/map_building_demo.launch	2009-08-02 21:46:29 UTC (rev 20447)
+++ pkg/trunk/demos/pr2_gazebo/map_building_demo.launch	2009-08-02 21:55:27 UTC (rev 20448)
@@ -6,10 +6,9 @@
   <!-- start prototype1 robot (pr2 - arms) -->
   <include file="$(find pr2_gazebo)/prototype1.launch"/>
 
-  <!-- startup base controller -->
-  <param name="base_controller/odom_publish_rate" value="10" />
-  <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" output="screen"/>
-  <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/gazebo_head_torso_lift_controller.xml" output="screen"/>
+  <!-- load head and base controllers -->
+  <include file="$(find pr2_default_controllers)/pr2_base_controller_odom.launch"/>
+  <include file="$(find pr2_default_controllers)/head_position_controller.launch"/>
 
   <!-- for visualization -->
   <node pkg="rviz" type="rviz" respawn="false" />

Modified: pkg/trunk/demos/pr2_gazebo/multi_level_map_demo.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/multi_level_map_demo.launch	2009-08-02 21:46:29 UTC (rev 20447)
+++ pkg/trunk/demos/pr2_gazebo/multi_level_map_demo.launch	2009-08-02 21:55:27 UTC (rev 20448)
@@ -5,9 +5,9 @@
   <!-- start prototype1 robot (pr2 - arms) -->
   <include file="$(find pr2_gazebo)/prototype1.launch"/>
 
-  <!-- startup base controller -->
-  <param name="base_controller/odom_publish_rate" value="10" />
-  <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" output="screen"/>
-  <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/gazebo_head_torso_lift_controller.xml" output="screen"/>
+  <!-- load head and base controllers -->
+  <include file="$(find pr2_default_controllers)/pr2_base_controller_odom.launch"/>
+  <include file="$(find pr2_default_controllers)/head_position_controller.launch"/>
+
 </launch>
 

Modified: pkg/trunk/demos/pr2_gazebo/pr2_default_controllers.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_default_controllers.launch	2009-08-02 21:46:29 UTC (rev 20447)
+++ pkg/trunk/demos/pr2_gazebo/pr2_default_controllers.launch	2009-08-02 21:55:27 UTC (rev 20448)
@@ -1,23 +1,11 @@
 <launch>
-    <param name="base_controller/odom_publish_rate" value="10" />
 
-    <!--node pkg="mechanism_control" type="mech.py" args="sp $(find pr2_gazebo)/controllers_2dnav_test.xml" respawn="false" output="screen" /-->
-    <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" output="screen"/>
-    <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/gazebo_head_torso_lift_controller.xml" output="screen"/>
-    <!--  arm controller -->
-    <node pkg="mechanism_control" type="spawner.py" args="$(find arm_gazebo)/controllers/l_arm_position_controller.xml" output="screen"/>
-    <node pkg="mechanism_control" type="spawner.py" args="$(find arm_gazebo)/controllers/r_arm_position_controller.xml" output="screen"/>
+  <!-- load controllers -->
+  <include file="$(find pr2_default_controllers)/pr2_base_controller_odom.launch"/>
+  <include file="$(find pr2_default_controllers)/head_position_controller.launch"/>
+  <include file="$(find pr2_gazebo)/controllers/pr2_tilt_laser_controller.launch"/>
+  <include file="$(find arm_gazebo)/controllers/l_arm_position_controller.launch" output="screen"/>
+  <include file="$(find arm_gazebo)/controllers/r_arm_position_controller.launch" output="screen"/>
 
-    <!-- Tug Arms For Navigation -->
-    <!--node pkg="pr2_mechanism_controllers" type="tuckarm.py" arg="b" output="screen"/-->
-    <!-- PR2 Calibration -->
-    <!--include file="$(find pr2_default_controllers)/prototype1_calibration_controller.launch" /-->
-
-    <!-- send laser tilt motor a command -->
-    <!--node pkg="pr2_mechanism_controllers" type="send_periodic_cmd_srv.py" args="laser_tilt_controller linear 20 0.872 0.3475" respawn="false" output="screen" /-->
-    <!--node pkg="pr2_mechanism_controllers" type="send_periodic_cmd_srv.py" args="laser_tilt_controller linear 1 .45 .40" /--> <!-- this one will pick up shoulders at lowest position -->
-    <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/laser_tilt_controller.xml" />
-    <node pkg="pr2_mechanism_controllers" type="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	2009-08-02 21:46:29 UTC (rev 20447)
+++ pkg/trunk/demos/pr2_gazebo/pr2_trajectory_controllers.launch	2009-08-02 21:55:27 UTC (rev 20448)
@@ -6,13 +6,12 @@
   <param name="base_trajectory_controller/controller_frequency" value="20.0" type="double" />
   <node pkg="pr2_mechanism_controllers" type="base_trajectory_controller"/>
 
-  <!-- base odom controller -->
-  <param name="base_controller/odom_publish_rate" value="10" />
-  <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" output="screen"/>
+  <!-- load head and base controllers -->
+  <include file="$(find pr2_default_controllers)/pr2_base_controller_odom.launch"/>
+  <include file="$(find pr2_default_controllers)/head_position_controller.launch"/>
 
   <!-- tilting laser controller -->
-  <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/laser_tilt_controller.xml" />
-  <node pkg="pr2_mechanism_controllers" type="send_periodic_cmd_srv.py" args="laser_tilt_controller linear 2 .45 .40" />
+  <include file="$(find pr2_gazebo)/controllers/pr2_tilt_laser_controller.launch"/>
 
 </launch>
 

Modified: pkg/trunk/demos/pr2_gazebo/prototype1_default_controllers.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/prototype1_default_controllers.launch	2009-08-02 21:46:29 UTC (rev 20447)
+++ pkg/trunk/demos/pr2_gazebo/prototype1_default_controllers.launch	2009-08-02 21:55:27 UTC (rev 20448)
@@ -1,13 +1,9 @@
 <launch>
-    <!-- use spawner.py to spawn all controllers listed in controllers.xml -->
-    <param name="base_controller/odom_publish_rate" value="10" />
-    <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" output="screen"/>
-    <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/gazebo_head_torso_lift_controller.xml" output="screen"/>
 
-    <!-- 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="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="$(find pr2_default_controllers)/laser_tilt_controller.xml" />
-    <node pkg="pr2_mechanism_controllers" type="send_periodic_cmd_srv.py" args="laser_tilt_controller linear 2 .45 .40" />
+  <!-- load controllers -->
+  <include file="$(find pr2_default_controllers)/pr2_base_controller_odom.launch"/>
+  <include file="$(find pr2_default_controllers)/head_position_controller.launch"/>
+  <include file="$(find pr2_gazebo)/controllers/pr2_tilt_laser_controller.launch"/>
+
 </launch>
 

Modified: pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_pr2_mechanism.launch
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_pr2_mechanism.launch	2009-08-02 21:46:29 UTC (rev 20447)
+++ pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_pr2_mechanism.launch	2009-08-02 21:55:27 UTC (rev 20448)
@@ -6,17 +6,10 @@
   <include file="$(find pr2_gazebo)/pr2.launch"/>
 
   <!-- load controllers -->
+  <include file="$(find pr2_default_controllers)/pr2_base_controller_odom.launch"/>
+  <include file="$(find pr2_default_controllers)/head_position_controller.launch"/>
+  <include file="$(find pr2_gazebo)/controllers/pr2_tilt_laser_controller.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="$(find pr2_default_controllers)/gazebo_head_torso_lift_controller.xml" output="screen"/>
-  <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_experimental_controllers)/laser_tilt/laser_tilt_controller.xml" />
-  <node pkg="pr2_mechanism_controllers" type="send_laser_traj_cmd_ms2.py" args="laser_tilt_controller" />
-
   <!-- Run hztest -->
   <!-- Test for publication of 'base_pose_ground_truth' topic. -->
   <test test-name="hztest_test_base_pose_ground_truth" pkg="rostest" type="hztest" time-limit="50" name="base_pose_ground_truth_test">

Modified: pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_pr2_odom.launch
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_pr2_odom.launch	2009-08-02 21:46:29 UTC (rev 20447)
+++ pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_pr2_odom.launch	2009-08-02 21:55:27 UTC (rev 20448)
@@ -6,15 +6,10 @@
   <include file="$(find pr2_gazebo)/pr2.launch"/>
 
   <!-- load controllers -->
- <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"/>
+  <include file="$(find pr2_default_controllers)/pr2_base_controller_odom.launch"/>
+  <include file="$(find pr2_default_controllers)/head_position_controller.launch"/>
+  <include file="$(find pr2_gazebo)/controllers/pr2_tilt_laser_controller.launch"/>
 
-  <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/gazebo_head_torso_lift_controller.xml" output="screen"/>
-  <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_experimental_controllers)/laser_tilt/laser_tilt_controller.xml" />
-  <node pkg="pr2_mechanism_controllers" type="send_laser_traj_cmd_ms2.py" args="laser_tilt_controller" />
-
   <!-- Test for publication of 'odom' topic. -->
   <test test-name="hztest_test_odom" pkg="rostest" type="hztest" time-limit="50" name="odom_test">
     <!-- Note how we use a different parameter namespace and node name

Modified: pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_rostime.launch
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_rostime.launch	2009-08-02 21:46:29 UTC (rev 20447)
+++ pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/hztest_rostime.launch	2009-08-02 21:55:27 UTC (rev 20448)
@@ -6,16 +6,10 @@
   <include file="$(find pr2_gazebo)/pr2.launch"/>
 
   <!-- load controllers -->
- <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"/>
+  <include file="$(find pr2_default_controllers)/pr2_base_controller_odom.launch"/>
+  <include file="$(find pr2_default_controllers)/head_position_controller.launch"/>
+  <include file="$(find pr2_gazebo)/controllers/pr2_tilt_laser_controller.launch"/>
 
-
-  <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/gazebo_head_torso_lift_controller.xml" output="screen"/>
-  <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_experimental_controllers)/laser_tilt/laser_tilt_controller.xml" />
-  <node pkg="pr2_mechanism_controllers" type="send_laser_traj_cmd_ms2.py" args="laser_tilt_controller" />
-
   <!-- Test for publication of 'odom' topic. -->
   <test test-name="hztest_test_rostime" pkg="rostest" type="hztest" time-limit="50" name="rostime_test">
     <!-- Note how we use a different parameter namespace and node name

Modified: pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/my_hztest.launch
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/my_hztest.launch	2009-08-02 21:46:29 UTC (rev 20447)
+++ pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/my_hztest.launch	2009-08-02 21:55:27 UTC (rev 20448)
@@ -6,11 +6,9 @@
   <include file="$(find pr2_gazebo)/pr2.launch"/>
 
   <!-- load controllers -->
-  <param name="base_controller/odom_publish_rate" value="10" />
-  <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" output="screen"/>
-  <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/gazebo_head_torso_lift_controller.xml" output="screen"/>
-  <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_experimental_controllers)/laser_tilt/laser_tilt_controller.xml" />
-  <node pkg="pr2_mechanism_controllers" type="send_laser_traj_cmd_ms2.py" args="laser_tilt_controller" />
+  <include file="$(find pr2_default_controllers)/pr2_base_controller_odom.launch"/>
+  <include file="$(find pr2_default_controllers)/head_position_controller.launch"/>
+  <include file="$(find pr2_gazebo)/controllers/pr2_tilt_laser_controller.launch"/>
 
   <!-- Run hztest -->
   <test test-name="test_my_hztest_1" pkg="test_pr2_mechanism_controllers_gazebo" type="my_hztest.py" time-limit="100000000" />

Modified: pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_arm.launch
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_arm.launch	2009-08-02 21:46:29 UTC (rev 20447)
+++ pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_arm.launch	2009-08-02 21:55:27 UTC (rev 20448)
@@ -5,8 +5,9 @@
   <!-- send single_link.xml to param server -->
   <include file="$(find arm_gazebo)/l_arm.launch" />
 
-  <node pkg="pr2_default_controllers" type="tuckarm.py" args="l" respawn="true"  />
-  <node pkg="mechanism_control" type="spawner.py" args="$(find arm_gazebo)/controllers/l_gripper_controller.xml" respawn="true"  />
+  <node pkg="pr2_default_controllers" type="tuckarm.py" args="l" respawn="true" />
+  <rosparam file="$(find arm_gazebo)/controllers/l_gripper_controller.xml" command="load" />
+  <node pkg="mechanism_control" type="spawner.py" args="l_gripper_controller" />
 
   <test test-name="test_pr2_mechanism_gazebo_test_arm" pkg="test_pr2_mechanism_controllers_gazebo" type="test_arm.py" time-limit="110" />
 </launch>

Modified: pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base.launch
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base.launch	2009-08-02 21:46:29 UTC (rev 20447)
+++ pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_base.launch	2009-08-02 21:55:27 UTC (rev 20448)
@@ -6,15 +6,10 @@
   <include file="$(find pr2_gazebo)/pr2.launch"/>
 
   <!-- load controllers -->
- <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"/>
+  <include file="$(find pr2_default_controllers)/pr2_base_controller_odom.launch"/>
+  <include file="$(find pr2_default_controllers)/head_position_controller.launch"/>
+  <include file="$(find pr2_gazebo)/controllers/pr2_tilt_laser_controller.launch"/>
 
-  <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/gazebo_head_torso_lift_controller.xml" output="screen"/>
-  <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_experimental_controllers)/laser_tilt/laser_tilt_controller.xml" />
-  <node pkg="pr2_mechanism_controllers" type="send_laser_traj_cmd_ms2.py" args="laser_tilt_controller" />
-
   <test test-name="test_pr2_mechanism_gazebo_test_base_vw1"      pkg="test_pr2_mechanism_controllers_gazebo" type="test_base_vw_gt.py" />
   <test test-name="test_pr2_mechanism_gazebo_test_base_odomxyw1" pkg="test_pr2_mechanism_controllers_gazebo" type="test_base_odomxyw_gt.py" />
   <test test-name="test_pr2_mechanism_gazebo_test_base_odomxy1"  pkg="test_pr2_mechanism_controllers_gazebo" type="test_base_odomxy_gt.py" />


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