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[Personalrobots-commit] SF.net SVN: personalrobots:[20721] pkg/trunk
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From: <stu...@us...> - 2009-08-04 22:37:15
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Revision: 20721
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=20721&view=rev
Author: stuglaser
Date: 2009-08-04 22:37:08 +0000 (Tue, 04 Aug 2009)
Log Message:
-----------
Removing SetPoseStamped from robot_srvs. #1950
Modified Paths:
--------------
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_hybrid_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_hybrid_controller.cpp
pkg/trunk/highlevel/plugs/plugs_core/include/plugs_core/action_localize_plug_in_gripper.h
pkg/trunk/highlevel/plugs/plugs_core/src/action_localize_plug_in_gripper.cpp
pkg/trunk/sandbox/experimental_controllers/CMakeLists.txt
Added Paths:
-----------
pkg/trunk/controllers/robot_mechanism_controllers/srv/SetPoseStamped.srv
Removed Paths:
-------------
pkg/trunk/stacks/common_msgs/robot_srvs/srv/SetPoseStamped.srv
Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_hybrid_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_hybrid_controller.h 2009-08-04 22:36:32 UTC (rev 20720)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_hybrid_controller.h 2009-08-04 22:37:08 UTC (rev 20721)
@@ -43,7 +43,7 @@
#include "filters/filter_chain.h"
#include "control_toolbox/pid_gains_setter.h"
-#include "robot_srvs/SetPoseStamped.h"
+#include "robot_mechanism_controllers/SetPoseStamped.h"
#include "manipulation_msgs/TaskFrameFormalism.h"
#include "robot_mechanism_controllers/CartesianHybridState.h"
@@ -113,8 +113,8 @@
void command(const tf::MessageNotifier<manipulation_msgs::TaskFrameFormalism>::MessagePtr& tff_msg);
- bool setToolFrame(robot_srvs::SetPoseStamped::Request &req,
- robot_srvs::SetPoseStamped::Response &resp);
+ bool setToolFrame(robot_mechanism_controllers::SetPoseStamped::Request &req,
+ robot_mechanism_controllers::SetPoseStamped::Response &resp);
private:
ros::NodeHandle node_;
Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_hybrid_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_hybrid_controller.cpp 2009-08-04 22:36:32 UTC (rev 20720)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_hybrid_controller.cpp 2009-08-04 22:37:08 UTC (rev 20721)
@@ -639,8 +639,8 @@
}
bool CartesianHybridControllerNode::setToolFrame(
- robot_srvs::SetPoseStamped::Request &req,
- robot_srvs::SetPoseStamped::Response &resp)
+ robot_mechanism_controllers::SetPoseStamped::Request &req,
+ robot_mechanism_controllers::SetPoseStamped::Response &resp)
{
if (!TF.canTransform(c_.kdl_chain_.getSegment(c_.kdl_chain_.getNrOfSegments()-1).getName(), req.p.header.frame_id,
req.p.header.stamp, ros::Duration(3.0)))
Copied: pkg/trunk/controllers/robot_mechanism_controllers/srv/SetPoseStamped.srv (from rev 20720, pkg/trunk/stacks/common_msgs/robot_srvs/srv/SetPoseStamped.srv)
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/srv/SetPoseStamped.srv (rev 0)
+++ pkg/trunk/controllers/robot_mechanism_controllers/srv/SetPoseStamped.srv 2009-08-04 22:37:08 UTC (rev 20721)
@@ -0,0 +1,2 @@
+geometry_msgs/PoseStamped p
+---
Modified: pkg/trunk/highlevel/plugs/plugs_core/include/plugs_core/action_localize_plug_in_gripper.h
===================================================================
--- pkg/trunk/highlevel/plugs/plugs_core/include/plugs_core/action_localize_plug_in_gripper.h 2009-08-04 22:36:32 UTC (rev 20720)
+++ pkg/trunk/highlevel/plugs/plugs_core/include/plugs_core/action_localize_plug_in_gripper.h 2009-08-04 22:37:08 UTC (rev 20721)
@@ -46,9 +46,9 @@
#include <std_msgs/Empty.h>
#include <std_msgs/Float64.h>
-// Srvs
+// Srvs
#include <deprecated_srvs/MoveToPose.h>
-#include "robot_srvs/SetPoseStamped.h"
+#include "robot_mechanism_controllers/SetPoseStamped.h"
//TF
#include <tf/tf.h>
#include <tf/transform_listener.h>
@@ -74,10 +74,10 @@
virtual robot_actions::ResultStatus execute(const std_msgs::Empty& empty, std_msgs::Empty&);
private:
-
+
void reset();
void moveToStage();
- void setToolFrame();
+ void setToolFrame();
std::string action_name_;
@@ -85,7 +85,7 @@
std::string arm_controller_;
std::string servoing_controller_;
-
+
PlugTracker::PlugTracker* detector_;
tf::TransformListener TF;
@@ -94,11 +94,11 @@
geometry_msgs::PoseStamped outlet_pose_;
geometry_msgs::PoseStamped plug_pose_msg_;
tf::Stamped<tf::Pose> plug_pose_;
-
-
+
+
deprecated_srvs::MoveToPose::Request req_pose_;
deprecated_srvs::MoveToPose::Response res_pose_;
-
+
};
}
Modified: pkg/trunk/highlevel/plugs/plugs_core/src/action_localize_plug_in_gripper.cpp
===================================================================
--- pkg/trunk/highlevel/plugs/plugs_core/src/action_localize_plug_in_gripper.cpp 2009-08-04 22:36:32 UTC (rev 20720)
+++ pkg/trunk/highlevel/plugs/plugs_core/src/action_localize_plug_in_gripper.cpp 2009-08-04 22:37:08 UTC (rev 20721)
@@ -204,9 +204,9 @@
node_.unsubscribe("/plug_detector/plug_pose");
return;
}
- robot_srvs::SetPoseStamped::Request req_tool;
+ robot_mechanism_controllers::SetPoseStamped::Request req_tool;
req_tool.p = plug_pose_msg_;
- robot_srvs::SetPoseStamped::Response res_tool;
+ robot_mechanism_controllers::SetPoseStamped::Response res_tool;
if (!ros::service::call(servoing_controller_ + "/set_tool_frame", req_tool, res_tool))
{
ROS_ERROR("%s: Failed to set tool frame.", action_name_.c_str());
Modified: pkg/trunk/sandbox/experimental_controllers/CMakeLists.txt
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/CMakeLists.txt 2009-08-04 22:36:32 UTC (rev 20720)
+++ pkg/trunk/sandbox/experimental_controllers/CMakeLists.txt 2009-08-04 22:37:08 UTC (rev 20721)
@@ -23,7 +23,6 @@
rospack_add_library(experimental_controllers
src/joint_trajectory_controller2.cpp
- src/plug_controller.cpp
src/trajectory_controller.cpp
src/pid_position_velocity_controller.cpp
)
Deleted: pkg/trunk/stacks/common_msgs/robot_srvs/srv/SetPoseStamped.srv
===================================================================
--- pkg/trunk/stacks/common_msgs/robot_srvs/srv/SetPoseStamped.srv 2009-08-04 22:36:32 UTC (rev 20720)
+++ pkg/trunk/stacks/common_msgs/robot_srvs/srv/SetPoseStamped.srv 2009-08-04 22:37:08 UTC (rev 20721)
@@ -1,2 +0,0 @@
-geometry_msgs/PoseStamped p
----
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