[Personalrobots-commit] SF.net SVN: personalrobots:[21444] pkg/trunk/applications/2dnav_pr2_app/ 2dnav_pr2

[<ei...@us...>]

Revision: 21444
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21444&view=rev
Author:   eitanme
Date:     2009-08-10 19:03:26 +0000 (Mon, 10 Aug 2009)

Log Message:
-----------
Adding remapping back in since odom is now published on the base/odom topic

Modified Paths:
--------------
    pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/base_odom_teleop.xml
    pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base/move_base.xml
    pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base_local/move_base_local.xml

Modified: pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/base_odom_teleop.xml
===================================================================
--- pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/base_odom_teleop.xml	2009-08-10 19:03:25 UTC (rev 21443)
+++ pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/base_odom_teleop.xml	2009-08-10 19:03:26 UTC (rev 21444)
@@ -15,6 +15,7 @@
   <param name="odom_used" value="true"/>
   <param name="imu_used" value="true"/>
   <param name="vo_used" value="false"/>
+  <remap from="odom" to="base/odom" />
 </node>
 
 

Modified: pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base/move_base.xml
===================================================================
--- pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base/move_base.xml	2009-08-10 19:03:25 UTC (rev 21443)
+++ pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base/move_base.xml	2009-08-10 19:03:26 UTC (rev 21444)
@@ -3,9 +3,8 @@
 
 <node pkg="mux" type="throttle" args="3.0 /move_base/local_costmap/voxel_grid /move_base/local_costmap/voxel_grid_throttled" />
 <node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen" machine="four">
-  <!--
-  <remap from="cmd_vel" to="/bs" />
-  -->
+  <remap from="odom" to="base/odom" />
+
   <param name="controller_frequency" value="10.0" />
   <param name="footprint_padding" value="0.015" />
   <param name="controller_patience" value="15.0" />

Modified: pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base_local/move_base_local.xml
===================================================================
--- pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base_local/move_base_local.xml	2009-08-10 19:03:25 UTC (rev 21443)
+++ pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base_local/move_base_local.xml	2009-08-10 19:03:26 UTC (rev 21444)
@@ -3,6 +3,7 @@
 
 <node pkg="mux" type="throttle" args="3.0 /move_base_local/local_costmap/voxel_grid /move_base_local/local_costmap/voxel_grid_throttled" />
 <node pkg="move_base" type="move_base" respawn="false" name="move_base_local" output="screen" machine="three">
+  <remap from="odom" to="base/odom" />
   <param name="controller_frequency" value="10.0" />
 
   <rosparam file="$(find 2dnav_pr2)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />


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