[Personalrobots-commit] SF.net SVN: personalrobots:[21218] pkg/trunk/stacks/pr2/pr2_alpha

[<wa...@us...>]

Revision: 21218
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21218&view=rev
Author:   wattsk
Date:     2009-08-09 04:04:15 +0000 (Sun, 09 Aug 2009)

Log Message:
-----------
Fixed up teleop_joystick launch files

Modified Paths:
--------------
    pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch
    pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch

Modified: pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch	2009-08-09 04:03:52 UTC (rev 21217)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch	2009-08-09 04:04:15 UTC (rev 21218)
@@ -1,5 +1,4 @@
 <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="pr2_base_controller pr2_odometry" output="screen"/>
@@ -13,34 +12,37 @@
  <!-- The robot pose EKF is launched with the base controller-->
  <include file="$(find robot_pose_ekf)/robot_pose_ekf.launch" />
 
- <group name="wg">
+ <group name="joystick_teleop">
+   <!-- Axes -->
    <param name="axis_vx" value="3" type="int"/>
    <param name="axis_vy" value="2" type="int"/>
    <param name="axis_vw" value="0" type="int"/>
    <param name="axis_pan" value="0" type="int"/>
    <param name="axis_tilt" value="3" type="int"/>
 
+   <!-- Base velocities -->
    <param name="max_vw" value="0.8" />
    <param name="max_vx" value="0.5" />
    <param name="max_vy" value="0.5" />
    <param name="max_vw_run" value="1.4" />
    <param name="max_vx_run" value="1.0" />
    <param name="max_vy_run" value="1.0" />
-   <param name="tilt_step" value="0.1" />
-   <param name="pan_step" value="0.1" />
 
+   <!-- Head -->
+   <param name="max_pan" value="2.7" />
+   <param name="max_tilt" value="1.4" />
+   <param name="min_tilt" value="-0.4" />
+   <param name="tilt_step" value="0.015" />
+   <param name="pan_step" value="0.02" />
 
+   <!-- Button maps for logitech -->
    <param name="run_button" value="5" type="int" />
    <param name="torso_dn_button" value="1" type="int" />
    <param name="torso_up_button" value="3" type="int" />
    <param name="head_button" value="6" type="int" />
+   <param name="deadman_button" value="4" type="int"/>
 
-   <param name="deadman_button" value="4" type="int"/>
    <node pkg="teleop_pr2" type="teleop_pr2" output="screen"/>
-
-
  </group>
-
-
 </launch>
 

Modified: pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch	2009-08-09 04:03:52 UTC (rev 21217)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch	2009-08-09 04:04:15 UTC (rev 21218)
@@ -1,47 +1,48 @@
 <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="pr2_base_controller pr2_odometry" output="screen"/>
 
-<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/torso_lift_vel_controller.xml" output="screen" />
+ <rosparam file="$(find pr2_default_controllers)/pr2_joint_velocity_controllers.yaml" command="load" />
+ <node pkg="mechanism_control" type="spawner.py" args="torso_lift_velocity_controller" output="screen" />
 
-<include file="$(find pr2_default_controllers)/head_position_controller.launch" />
-
-
-<!-- The robot pose EKF is launched with the base controller-->
-<include file="$(find robot_pose_ekf)/robot_pose_ekf.launch" />
-
-  <group name="ps3_teleop">
-<param name="axis_vx" value="3" type="int"/>
-<param name="axis_vy" value="2" type="int"/>
-<param name="axis_vw" value="0" type="int"/>
-<param name="axis_pan" value="0" type="int"/>
-<param name="axis_tilt" value="3" type="int"/>
-
-<param name="max_vw" value="0.8" />
-<param name="max_vx" value="0.5" />
-<param name="max_vy" value="0.5" />
-<param name="max_vw_run" value="1.4" />
-<param name="max_vx_run" value="1.0" />
-<param name="max_vy_run" value="1.0" />
-<param name="max_pan" value="2.7" />
-<param name="max_tilt" value="1.4" />
-<param name="min_tilt" value="-0.4" />
-<param name="tilt_step" value="0.015" />
-<param name="pan_step" value="0.02" />
-
-<!-- Buttons have changed for PS3 controller mapping -->
-<param name="run_button" value="7" type="int" />
-<param name="torso_dn_button" value="1" type="int" />
-<param name="torso_up_button" value="2" type="int" />
-<param name="head_button" value="4" type="int" />
-<param name="deadman_button" value="6" type="int"/>
-
-<node pkg="teleop_pr2" type="teleop_pr2" output="screen"/>
-  </group>
-
-
+ <include file="$(find pr2_default_controllers)/head_position_controller.launch" />
+ 
+ 
+ <!-- The robot pose EKF is launched with the base controller-->
+ <include file="$(find robot_pose_ekf)/robot_pose_ekf.launch" />
+ 
+ <group name="ps3_teleop">
+   <!-- Axes -->
+   <param name="axis_vx" value="3" type="int"/>
+   <param name="axis_vy" value="2" type="int"/>
+   <param name="axis_vw" value="0" type="int"/>
+   <param name="axis_pan" value="0" type="int"/>
+   <param name="axis_tilt" value="3" type="int"/>
+   
+   <!-- Base velocities -->
+   <param name="max_vw" value="0.8" />
+   <param name="max_vx" value="0.5" />
+   <param name="max_vy" value="0.5" />
+   <param name="max_vw_run" value="1.4" />
+   <param name="max_vx_run" value="1.0" />
+   <param name="max_vy_run" value="1.0" />
+   
+   <!-- Head -->
+   <param name="max_pan" value="2.7" />
+   <param name="max_tilt" value="1.4" />
+   <param name="min_tilt" value="-0.4" />
+   <param name="tilt_step" value="0.015" />
+   <param name="pan_step" value="0.02" />
+   
+   <!-- Buttons have changed for PS3 controller mapping -->
+   <param name="run_button" value="7" type="int" />
+   <param name="torso_dn_button" value="1" type="int" />
+   <param name="torso_up_button" value="2" type="int" />
+   <param name="head_button" value="4" type="int" />
+   <param name="deadman_button" value="6" type="int"/>
+   
+   <node pkg="teleop_pr2" type="teleop_pr2" output="screen"/>
+ </group>
 </launch>
 


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