[Personalrobots-commit] SF.net SVN: personalrobots:[21000] pkg/trunk/stacks

[<stu...@us...>]

Revision: 21000
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21000&view=rev
Author:   stuglaser
Date:     2009-08-07 02:52:13 +0000 (Fri, 07 Aug 2009)

Log Message:
-----------
PRE now calibrates

Modified Paths:
--------------
    pkg/trunk/stacks/mechanism/mechanism_bringup/scripts/calibrate_pr2.py
    pkg/trunk/stacks/pr2/pr2_alpha/pre_ethercat_reset.launch
    pkg/trunk/stacks/pr2/pr2_default_controllers/pr2_calibration_controllers.yaml

Modified: pkg/trunk/stacks/mechanism/mechanism_bringup/scripts/calibrate_pr2.py
===================================================================
--- pkg/trunk/stacks/mechanism/mechanism_bringup/scripts/calibrate_pr2.py	2009-08-07 02:51:54 UTC (rev 20999)
+++ pkg/trunk/stacks/mechanism/mechanism_bringup/scripts/calibrate_pr2.py	2009-08-07 02:52:13 UTC (rev 21000)
@@ -174,7 +174,7 @@
     else:
         casters = ['caster_fl', 'caster_fr', 'caster_bl', 'caster_br']
     if '--alpha-head' in flags:
-        head = ['head_pan_alpha2', 'head_tilt_alpha2']
+        head = ['head_pan_alpha2', 'head_tilt_alpha2b']
     else:
         head = ['head_pan', 'head_tilt']
 

Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre_ethercat_reset.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre_ethercat_reset.launch	2009-08-07 02:51:54 UTC (rev 20999)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre_ethercat_reset.launch	2009-08-07 02:52:13 UTC (rev 21000)
@@ -7,7 +7,7 @@
 <!-- pr2_etherCAT -->
   <node machine="realtime_root" pkg="pr2_etherCAT" type="pr2_etherCAT" args="-i ecat0 -x /robot_description"/>
 
-  <node pkg="mechanism_bringup" type="calibrate_pr2.py"
-        args="$(find pr2_default_controllers)/calibration_controllers/pre_calibration_controller.xml"
-        output="screen" />  
+  <rosparam command="load" file="$(find pr2_default_controllers)/pr2_calibration_controllers.yaml" />
+  <rosparam command="load" file="$(find pr2_default_controllers)/pr2_joint_position_controllers.yaml" />
+  <node pkg="mechanism_bringup" type="calibrate_pr2.py" args="--alpha-head --alpha-casters" output="screen" />
 </launch>

Modified: pkg/trunk/stacks/pr2/pr2_default_controllers/pr2_calibration_controllers.yaml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_default_controllers/pr2_calibration_controllers.yaml	2009-08-07 02:51:54 UTC (rev 20999)
+++ pkg/trunk/stacks/pr2/pr2_default_controllers/pr2_calibration_controllers.yaml	2009-08-07 02:52:13 UTC (rev 21000)
@@ -58,7 +58,7 @@
   joint: r_upper_arm_roll_joint
   actuator: r_upper_arm_roll_motor
   transmission: r_upper_arm_roll_trans
-  velocity: 1.0
+  velocity: 1.5
   pid:
     p: 6
     i: 0.2
@@ -69,7 +69,7 @@
   joint: l_upper_arm_roll_joint
   actuator: l_upper_arm_roll_motor
   transmission: l_upper_arm_roll_trans
-  velocity: 1.0
+  velocity: 1.5
   pid:
     p: 6
     i: 0.2
@@ -319,7 +319,7 @@
 cal_head_tilt_alpha2b:
   type: JointUDCalibrationController
   joint: head_tilt_joint
-  actuator: head_tilt_motor_alpha2b
+  actuator: head_tilt_motor
   transmission: head_tilt_trans
   velocity: -1.0
   pid:


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