[Personalrobots-commit] SF.net SVN: personalrobots:[21309] pkg/trunk/stacks/pr2/pr2_alpha

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Revision: 21309
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21309&view=rev
Author:   wattsk
Date:     2009-08-10 04:58:11 +0000 (Mon, 10 Aug 2009)

Log Message:
-----------
Combining teleop launch file #2297

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

Added Paths:
-----------
    pkg/trunk/stacks/pr2/pr2_alpha/teleop_controllers.launch

Added: pkg/trunk/stacks/pr2/pr2_alpha/teleop_controllers.launch
===================================================================

--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_controllers.launch	                        (rev 0)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_controllers.launch	2009-08-10 04:58:11 UTC (rev 21309)
@@ -0,0 +1,17 @@
+<launch>
+  <!-- Watts: Contains all controllers necessary to teleop_pr2, avoids code
+       reuse in teleop_joystick, teleop_ps3 -->
+  
+  <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"/>
+  
+  <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" />
+</launch>

Modified: pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch	2009-08-10 04:43:37 UTC (rev 21308)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch	2009-08-10 04:58:11 UTC (rev 21309)
@@ -1,48 +1,37 @@
 <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"/>
-
- <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="$(find robot_pose_ekf)/robot_pose_ekf.launch" />
-
- <group name="joystick_teleop">
-   <!-- Axes -->
-   <param name="axis_vx" value="3" type="int"/>
-   <param name="axis_vy" value="2" type="int"/>
-   <param name="axis_vw" value="0" type="int"/>
-   <param name="axis_pan" value="0" type="int"/>
-   <param name="axis_tilt" value="3" type="int"/>
-
-   <!-- Base velocities -->
-   <param name="max_vw" value="0.8" />
-   <param name="max_vx" value="0.5" />
-   <param name="max_vy" value="0.5" />
-   <param name="max_vw_run" value="1.4" />
-   <param name="max_vx_run" value="1.0" />
-   <param name="max_vy_run" value="1.0" />
-
-   <!-- Head -->
-   <param name="max_pan" value="2.7" />
-   <param name="max_tilt" value="1.4" />
-   <param name="min_tilt" value="-0.4" />
-   <param name="tilt_step" value="0.015" />
-   <param name="pan_step" value="0.02" />
-
-   <!-- Button maps for logitech -->
-   <param name="run_button" value="5" type="int" />
-   <param name="torso_dn_button" value="1" type="int" />
-   <param name="torso_up_button" value="3" type="int" />
-   <param name="head_button" value="6" type="int" />
-   <param name="deadman_button" value="4" type="int"/>
-
-   <node pkg="teleop_pr2" type="teleop_pr2" output="screen"/>
- </group>
+  <include file="$(find pr2_alpha)/teleop_controllers.launch" />
+  
+  <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" />
+    
+    <!-- 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"/>
+    
+    <node pkg="teleop_pr2" type="teleop_pr2" output="screen"/>
+  </group>
 </launch>
 

Modified: pkg/trunk/stacks/pr2/pr2_alpha/teleop_keyboard.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_keyboard.launch	2009-08-10 04:43:37 UTC (rev 21308)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_keyboard.launch	2009-08-10 04:58:11 UTC (rev 21309)
@@ -1,26 +1,15 @@
 <launch>
+  <!-- This controller file has the torso and head, which is unnecessary
+       but not harmful -->
+  <include file="$(find pr2_alpha)/teleop_controllers.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"/>
-
-  <!-- The robot pose EKF is launched with the base controller-->
-  <group ns="robot_pose_ekf">
-    <param name="freq" value="30.0"/>
-    <param name="sensor_timeout" value="1.0"/>
-    <param name="odom_used" value="true"/>
-    <param name="imu_used" value="true"/>
-    <param name="vo_used" value="false"/>
+  <group name="keyboard_teleop" >
+    <param name="walk_vel" value="0.5" />
+    <param name="run_vel" value="1.0" />
+    <param name="yaw_rate" value="1.0" />
+    <param name="yaw_run_rate" value="1.5" />
+        
+    <node pkg="teleop_pr2" type="teleop_pr2_keyboard" output="screen"/>
   </group>
-  <node pkg="robot_pose_ekf" type="robot_pose_ekf" args="robot_pose_ekf"/>
-
-  <param name="walk_vel" value="0.5" />
-  <param name="run_vel" value="1.0" />
-  <param name="yaw_rate" value="1.0" />
-  <param name="yaw_run_rate" value="1.5" />
-
-
-  <node pkg="teleop_pr2" type="teleop_pr2_keyboard" output="screen"/>
-
 </launch>
 

Modified: pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch	2009-08-10 04:43:37 UTC (rev 21308)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch	2009-08-10 04:58:11 UTC (rev 21309)
@@ -1,48 +1,37 @@
 <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"/>
-
- <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="$(find robot_pose_ekf)/robot_pose_ekf.launch" />
- 
- <group name="ps3_teleop">
-   <!-- Axes -->
-   <param name="axis_vx" value="3" type="int"/>
-   <param name="axis_vy" value="2" type="int"/>
-   <param name="axis_vw" value="0" type="int"/>
-   <param name="axis_pan" value="0" type="int"/>
-   <param name="axis_tilt" value="3" type="int"/>
-   
-   <!-- Base velocities -->
-   <param name="max_vw" value="0.8" />
-   <param name="max_vx" value="0.5" />
-   <param name="max_vy" value="0.5" />
-   <param name="max_vw_run" value="1.4" />
-   <param name="max_vx_run" value="1.0" />
-   <param name="max_vy_run" value="1.0" />
-   
-   <!-- Head -->
-   <param name="max_pan" value="2.7" />
-   <param name="max_tilt" value="1.4" />
-   <param name="min_tilt" value="-0.4" />
-   <param name="tilt_step" value="0.015" />
-   <param name="pan_step" value="0.02" />
-   
-   <!-- Buttons have changed for PS3 controller mapping -->
-   <param name="run_button" value="7" type="int" />
-   <param name="torso_dn_button" value="1" type="int" />
-   <param name="torso_up_button" value="2" type="int" />
-   <param name="head_button" value="4" type="int" />
-   <param name="deadman_button" value="6" type="int"/>
-   
-   <node pkg="teleop_pr2" type="teleop_pr2" output="screen"/>
- </group>
+  <include file="$(find pr2_alpha)/teleop_controllers.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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