[Personalrobots-commit] SF.net SVN: personalrobots:[22033] pkg/trunk/pr2/life_test

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

Revision: 22033
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=22033&view=rev
Author:   wattsk
Date:     2009-08-17 21:06:37 +0000 (Mon, 17 Aug 2009)

Log Message:
-----------
Updates from hot box test (left arm, head)

Modified Paths:
--------------
    pkg/trunk/pr2/life_test/arm_life_test/random_poses_left.py
    pkg/trunk/pr2/life_test/head_test/life_test/life_test.launch
    pkg/trunk/pr2/life_test/scripts/run_head_test.py

Modified: pkg/trunk/pr2/life_test/arm_life_test/random_poses_left.py
===================================================================
--- pkg/trunk/pr2/life_test/arm_life_test/random_poses_left.py	2009-08-17 21:05:00 UTC (rev 22032)
+++ pkg/trunk/pr2/life_test/arm_life_test/random_poses_left.py	2009-08-17 21:06:37 UTC (rev 22033)
@@ -33,13 +33,13 @@
 import rospy
 from geometry_msgs.msg import PoseStamped
 
-#pub = rospy.Publisher('cartesian_pose/command', PoseStamped)
-pub = rospy.Publisher('cartesian_trajectory_left/command', PoseStamped)
+#pub = rospy.Publisher('l_arm_cartesian_pose_controller/command', PoseStamped)
+pub = rospy.Publisher('/l_arm_cartesian_trajectory_controller/command', PoseStamped)
 
 
 def p(x, y, z, rx, ry, rz, w):
   m = PoseStamped()
-  m.header.frame_id = 'base_link'
+  m.header.frame_id = '/base_link'
   m.header.stamp = rospy.get_rostime()
   m.pose.position.x = x
   m.pose.position.y = y

Modified: pkg/trunk/pr2/life_test/head_test/life_test/life_test.launch
===================================================================
--- pkg/trunk/pr2/life_test/head_test/life_test/life_test.launch	2009-08-17 21:05:00 UTC (rev 22032)
+++ pkg/trunk/pr2/life_test/head_test/life_test/life_test.launch	2009-08-17 21:06:37 UTC (rev 22033)
@@ -3,14 +3,7 @@
   <!-- May need to put in to to scripts folder -->
   <node pkg="life_test" type="run_head_test.py" />
   
-  <group ns="head_controller" clear_params="true">
-     <param name="pan_link_name" type="string" value="head_pan_link" />
-     <param name="tilt_link_name" type="string" value="head_tilt_link" />
-     <param name="pan_output" type="string" value="head_pan_joint_position_controller" />
-     <param name="tilt_output" type="string" value="head_tilt_joint_position_controller" />
-  </group>
+  <include file="$(find pr2_default_controllers)/head_position_controller.launch" />
 
-  <node pkg="mechanism_control" type="spawner.py" args="$(find life_test)/head_test/life_test/test_controller.xml" />
-
   <node pkg="life_test" type="laser_test.bash" />
 </launch>
\ No newline at end of file

Modified: pkg/trunk/pr2/life_test/scripts/run_head_test.py
===================================================================
--- pkg/trunk/pr2/life_test/scripts/run_head_test.py	2009-08-17 21:05:00 UTC (rev 22032)
+++ pkg/trunk/pr2/life_test/scripts/run_head_test.py	2009-08-17 21:06:37 UTC (rev 22033)
@@ -62,11 +62,9 @@
    sleep(1)
 
    while 1:
-       #point_head_client(0.0, -0.4)
        pan = random.uniform(-2.7, 2.7)
        print pan
        tilt = random.uniform(-0.5, 1.35)
        print tilt
-       #point_head_client(0.0, 1.2)
        point_head_client(pan, tilt)
 


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