[Personalrobots-commit] SF.net SVN: personalrobots:[22281] pkg/trunk

[<mee...@us...>]

Revision: 22281
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=22281&view=rev
Author:   meeussen
Date:     2009-08-19 17:06:24 +0000 (Wed, 19 Aug 2009)

Log Message:
-----------
tested version of robot_pose_ekf after many message changes

Modified Paths:
--------------
    pkg/trunk/demos/milestone2/milestone2_actions/milestone2.launch
    pkg/trunk/stacks/navigation/robot_pose_ekf/robot_pose_ekf.launch
    pkg/trunk/stacks/navigation/robot_pose_ekf/src/odom_estimation_node.cpp
    pkg/trunk/stacks/pr2/pr2_alpha/teleop_controllers.launch

Modified: pkg/trunk/demos/milestone2/milestone2_actions/milestone2.launch
===================================================================
--- pkg/trunk/demos/milestone2/milestone2_actions/milestone2.launch	2009-08-19 16:30:43 UTC (rev 22280)
+++ pkg/trunk/demos/milestone2/milestone2_actions/milestone2.launch	2009-08-19 17:06:24 UTC (rev 22281)
@@ -51,18 +51,9 @@
 
 
 <!-- Robot pose ekf -->
-<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" machine="four">
-  <param name="freq" value="30.0"/>
-  <param name="sensor_timeout" value="1.0"/>  
-  <param name="publish_tf" value="true"/>
-  <param name="odom_used" value="true"/>
-  <param name="imu_used" value="true"/>
-  <param name="vo_used" value="false"/>
-  <remap from="odom" to="pr2_base_odometry/odom"/>
-</node>
+  <include file="$(find robot_pose_ekf)/robot_pose_ekf.launch" />
 
 
-
 <!-- Sends robot pose when robot moves for irosweb interface -->
   <node pkg="tf" machine="two" type="change_notifier"/>
 

Modified: pkg/trunk/stacks/navigation/robot_pose_ekf/robot_pose_ekf.launch
===================================================================
--- pkg/trunk/stacks/navigation/robot_pose_ekf/robot_pose_ekf.launch	2009-08-19 16:30:43 UTC (rev 22280)
+++ pkg/trunk/stacks/navigation/robot_pose_ekf/robot_pose_ekf.launch	2009-08-19 17:06:24 UTC (rev 22281)
@@ -5,8 +5,8 @@
   <param name="sensor_timeout" value="1.0"/>  
   <param name="publish_tf" value="true"/>
   <param name="odom_used" value="true"/>
-  <param name="imu_used" value="false"/>
-  <param name="vo_used" value="false"/>
+  <param name="imu_used" value="true"/>
+  <param name="vo_used" value="true"/>
 
   <remap from="odom" to="/pr2_base_odometry/odom" />
 </node>

Modified: pkg/trunk/stacks/navigation/robot_pose_ekf/src/odom_estimation_node.cpp
===================================================================
--- pkg/trunk/stacks/navigation/robot_pose_ekf/src/odom_estimation_node.cpp	2009-08-19 16:30:43 UTC (rev 22280)
+++ pkg/trunk/stacks/navigation/robot_pose_ekf/src/odom_estimation_node.cpp	2009-08-19 17:06:24 UTC (rev 22281)
@@ -270,8 +270,8 @@
 #ifdef __EKF_DEBUG_FILE__
     // write to file
     double Rx, Ry, Rz;
-    vo_meas_base.getBasis().getEulerZYX(Rz, Ry, Rx);
-    vo_file_ << vo_meas_base.getOrigin().x() << " " << vo_meas_base.getOrigin().y() << " " << vo_meas_base.getOrigin().z() << " "
+    vo_meas_.getBasis().getEulerZYX(Rz, Ry, Rx);
+    vo_file_ << vo_meas_.getOrigin().x() << " " << vo_meas_.getOrigin().y() << " " << vo_meas_.getOrigin().z() << " "
 	     << Rx << " " << Ry << " " << Rz << endl;
 #endif
   };

Modified: pkg/trunk/stacks/pr2/pr2_alpha/teleop_controllers.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_controllers.launch	2009-08-19 16:30:43 UTC (rev 22280)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_controllers.launch	2009-08-19 17:06:24 UTC (rev 22281)
@@ -3,8 +3,8 @@
        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_odometry.yaml" command="load" ns="pr2_base_odometry" />
+  <node pkg="mechanism_control" type="spawner.py" args="pr2_base_controller pr2_base_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" />


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