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[Personalrobots-commit] SF.net SVN: personalrobots:[21051] pkg/trunk
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From: <tf...@us...> - 2009-08-07 22:13:09
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Revision: 21051
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21051&view=rev
Author: tfoote
Date: 2009-08-07 21:28:23 +0000 (Fri, 07 Aug 2009)
Log Message:
-----------
moving BatteryState into pr2_msgs #1944
Modified Paths:
--------------
pkg/trunk/drivers/robot/erratic_player/erratic_player.cc
pkg/trunk/drivers/robot/erratic_player/manifest.xml
pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/gazebo_battery.h
pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_battery.cpp
pkg/trunk/stacks/trex/trex_pr2/deprecated/battery_state_adapter.cpp
pkg/trunk/stacks/trex/trex_pr2/include/trex_pr2/pr2_adapters.h
Added Paths:
-----------
pkg/trunk/stacks/pr2_drivers/pr2_msgs/msg/BatteryState.msg
Removed Paths:
-------------
pkg/trunk/stacks/common_msgs/robot_msgs/msg/BatteryState.msg
Modified: pkg/trunk/drivers/robot/erratic_player/erratic_player.cc
===================================================================
--- pkg/trunk/drivers/robot/erratic_player/erratic_player.cc 2009-08-07 21:24:30 UTC (rev 21050)
+++ pkg/trunk/drivers/robot/erratic_player/erratic_player.cc 2009-08-07 21:28:23 UTC (rev 21051)
@@ -89,7 +89,7 @@
#include <deprecated_msgs/RobotBase2DOdom.h>
//#include <std_msgs/RobotBase2DCmdVel.h>
#include <robot_msgs/PoseDot.h>
-#include <robot_msgs/BatteryState.h>
+#include <pr2_msgs/BatteryState.h>
#define PLAYER_QUEUE_LEN 32
@@ -119,7 +119,7 @@
playerxdr_ftable_init();
advertise<deprecated_msgs::RobotBase2DOdom>("odom", 1);
- advertise<robot_msgs::BatteryState>("battery_state", 1);
+ advertise<pr2_msgs::BatteryState>("battery_state", 1);
// The Player address that will be assigned to this device. The format
// is interface:index. The interface must match what the driver is
@@ -337,7 +337,7 @@
(hdr->addr.interf == PLAYER_POWER_CODE))
{
player_power_data_t* pdata = (player_power_data_t*)msg->GetPayload();
- robot_msgs::BatteryState state;
+ pr2_msgs::BatteryState state;
state.header.stamp = ros::Time::now();
state.energy_remaining = pdata->volts; //Not Correct, in volts
state.energy_capacity = pdata->volts / pdata->percent * 100; //Returns max number of volts.
Modified: pkg/trunk/drivers/robot/erratic_player/manifest.xml
===================================================================
--- pkg/trunk/drivers/robot/erratic_player/manifest.xml 2009-08-07 21:24:30 UTC (rev 21050)
+++ pkg/trunk/drivers/robot/erratic_player/manifest.xml 2009-08-07 21:28:23 UTC (rev 21051)
@@ -7,6 +7,7 @@
<depend package="player" />
<depend package="std_msgs" />
<depend package="robot_msgs" />
+ <depend package="pr2_msgs" />
<depend package="deprecated_msgs" />
<depend package="tf" />
</package>
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/gazebo_battery.h
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/gazebo_battery.h 2009-08-07 21:24:30 UTC (rev 21050)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/gazebo_battery.h 2009-08-07 21:28:23 UTC (rev 21051)
@@ -35,7 +35,7 @@
#include <gazebo/Controller.hh>
#include <gazebo/Entity.hh>
#include <gazebo/Model.hh>
-#include <robot_msgs/BatteryState.h>
+#include <pr2_msgs/BatteryState.h>
#include <diagnostic_msgs/DiagnosticMessage.h>
#include <diagnostic_msgs/DiagnosticStatus.h>
#include <gazebo_plugin/PlugCommand.h>
@@ -108,7 +108,7 @@
Model *parent_model_;
/// \brief ros message for battery state
- robot_msgs::BatteryState battery_state_;
+ pr2_msgs::BatteryState battery_state_;
/// \brief ros message for diagnostic messages
diagnostic_msgs::DiagnosticMessage diagnostic_message_;
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_battery.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_battery.cpp 2009-08-07 21:24:30 UTC (rev 21050)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_battery.cpp 2009-08-07 21:28:23 UTC (rev 21051)
@@ -69,7 +69,7 @@
void GazeboBattery::LoadChild(XMLConfigNode *node)
{
this->stateTopicName_ = node->GetString("stateTopicName","battery_state",0);
- this->pub_ = this->rosnode_->advertise<robot_msgs::BatteryState>(this->stateTopicName_,10);
+ this->pub_ = this->rosnode_->advertise<pr2_msgs::BatteryState>(this->stateTopicName_,10);
//this->diagnosticMessageTopicName_ = node->GetString("diagnosticMessageTopicName","diagnostic",0);
//this->diag_pub_ = this->rosnode_->advertise<diagnostic_msgs::DiagnosticMessage>(this->diagnosticMessageTopicName_,10);
Deleted: pkg/trunk/stacks/common_msgs/robot_msgs/msg/BatteryState.msg
===================================================================
--- pkg/trunk/stacks/common_msgs/robot_msgs/msg/BatteryState.msg 2009-08-07 21:24:30 UTC (rev 21050)
+++ pkg/trunk/stacks/common_msgs/robot_msgs/msg/BatteryState.msg 2009-08-07 21:28:23 UTC (rev 21051)
@@ -1,4 +0,0 @@
-Header header
-float64 energy_remaining ## Joules
-float64 energy_capacity ## Joules
-float64 power_consumption ## Watts
Copied: pkg/trunk/stacks/pr2_drivers/pr2_msgs/msg/BatteryState.msg (from rev 17548, pkg/trunk/stacks/common_msgs/robot_msgs/msg/BatteryState.msg)
===================================================================
--- pkg/trunk/stacks/pr2_drivers/pr2_msgs/msg/BatteryState.msg (rev 0)
+++ pkg/trunk/stacks/pr2_drivers/pr2_msgs/msg/BatteryState.msg 2009-08-07 21:28:23 UTC (rev 21051)
@@ -0,0 +1,4 @@
+Header header
+float64 energy_remaining ## Joules
+float64 energy_capacity ## Joules
+float64 power_consumption ## Watts
Modified: pkg/trunk/stacks/trex/trex_pr2/deprecated/battery_state_adapter.cpp
===================================================================
--- pkg/trunk/stacks/trex/trex_pr2/deprecated/battery_state_adapter.cpp 2009-08-07 21:24:30 UTC (rev 21050)
+++ pkg/trunk/stacks/trex/trex_pr2/deprecated/battery_state_adapter.cpp 2009-08-07 21:28:23 UTC (rev 21051)
@@ -1,13 +1,13 @@
#include "trex_ros/ros_state_adapter.h"
#include "Domains.hh"
-#include <robot_msgs/BatteryState.h>
+#include <pr2_msgs/BatteryState.h>
namespace TREX {
- class BatteryStateAdapter: public ROSStateAdapter<robot_msgs::BatteryState> {
+ class BatteryStateAdapter: public ROSStateAdapter<pr2_msgs::BatteryState> {
public:
BatteryStateAdapter(const LabelStr& agentName, const TiXmlElement& configData)
- : ROSStateAdapter<robot_msgs::BatteryState> ( agentName, configData) {
+ : ROSStateAdapter<pr2_msgs::BatteryState> ( agentName, configData) {
}
virtual ~BatteryStateAdapter(){}
Modified: pkg/trunk/stacks/trex/trex_pr2/include/trex_pr2/pr2_adapters.h
===================================================================
--- pkg/trunk/stacks/trex/trex_pr2/include/trex_pr2/pr2_adapters.h 2009-08-07 21:24:30 UTC (rev 21050)
+++ pkg/trunk/stacks/trex/trex_pr2/include/trex_pr2/pr2_adapters.h 2009-08-07 21:28:23 UTC (rev 21051)
@@ -45,7 +45,7 @@
#include <deprecated_msgs/RobotBase2DOdom.h>
#include <geometry_msgs/Pose.h>
#include <door_msgs/Door.h>
-#include <robot_msgs/BatteryState.h>
+#include <pr2_msgs/BatteryState.h>
#include <plugs_msgs/PlugStow.h>
#include <robot_actions/action_runner.h>
#include <robot_actions/action.h>
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