[Personalrobots-commit] SF.net SVN: personalrobots:[22457] pkg/trunk

[<hsu...@us...>]

Revision: 22457
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=22457&view=rev
Author:   hsujohnhsu
Date:     2009-08-20 19:55:09 +0000 (Thu, 20 Aug 2009)

Log Message:
-----------
consolidate upload of urdf to param server.

Modified Paths:
--------------
    pkg/trunk/demos/arm_gazebo/l_arm.launch
    pkg/trunk/demos/arm_gazebo/l_gripper.launch
    pkg/trunk/demos/arm_gazebo/r_arm.launch
    pkg/trunk/demos/arm_gazebo/r_arm_grasping_demo.launch
    pkg/trunk/demos/arm_gazebo/r_gripper.launch
    pkg/trunk/demos/arm_gazebo/tests/r_arm_constraint.launch
    pkg/trunk/demos/arm_gazebo/tests/r_arm_spacenav.launch
    pkg/trunk/demos/pr2_gazebo/head_cart.launch
    pkg/trunk/demos/pr2_gazebo/pr2.launch
    pkg/trunk/demos/pr2_gazebo/prf.launch
    pkg/trunk/demos/pr2_gazebo/prototype1.launch
    pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.launch
    pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.launch
    pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.launch
    pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_arm/init.launch
    pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_arm/send_description.launch
    pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/hca.launch
    pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/hcb.launch
    pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/hcc.launch
    pkg/trunk/sandbox/dynamics_estimation/r_arm.launch
    pkg/trunk/sandbox/rtt_controller/demo.launch
    pkg/trunk/sandbox/texas/texas.launch
    pkg/trunk/stacks/pr2/pr2_alpha/pre_ethercat_reset.launch
    pkg/trunk/stacks/pr2/pr2_alpha/prf_ethercat_reset.launch
    pkg/trunk/stacks/pr2/pr2_alpha/prf_manip.launch
    pkg/trunk/stacks/pr2/pr2_alpha/prf_sim.launch
    pkg/trunk/stacks/pr2/pr2_alpha/prg_ethercat_reset.launch
    pkg/trunk/stacks/pr2/pr2_alpha/send_description.launch

Added Paths:
-----------
    pkg/trunk/sandbox/texas/texas.urdf.xacro

Modified: pkg/trunk/demos/arm_gazebo/l_arm.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/l_arm.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/demos/arm_gazebo/l_arm.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -1,7 +1,7 @@
 <launch>
 
   <!-- send pr2_l_arm.xml to param server -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/l_arm.xacro.xml'" />
+  <include file="$(find pr2_defs)/launch/upload_l_arm.launch" />
 
   <!-- push robot_description to factory and spawn robot in gazebo -->
   <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>

Modified: pkg/trunk/demos/arm_gazebo/l_gripper.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/l_gripper.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/demos/arm_gazebo/l_gripper.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -1,7 +1,7 @@
 <launch>
 
   <!-- send pr2_l_arm.xml to param server -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/l_gripper.xacro.xml'" />
+  <include file="$(find pr2_defs)/launch/upload_l_gripper.launch" />
 
   <!-- push robot_description to factory and spawn robot in gazebo -->
   <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>

Modified: pkg/trunk/demos/arm_gazebo/r_arm.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/r_arm.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/demos/arm_gazebo/r_arm.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -1,7 +1,7 @@
 <launch>
 
-  <!-- send pr2_r_arm.xml to param server -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_arm.xacro.xml'" />
+  <!-- send pr2_r_arm urdf to param server -->
+  <include file="$(find pr2_defs)/launch/upload_r_arm.launch" />
 
   <!-- push robot_description to factory and spawn robot in gazebo -->
   <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>

Modified: pkg/trunk/demos/arm_gazebo/r_arm_grasping_demo.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/r_arm_grasping_demo.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/demos/arm_gazebo/r_arm_grasping_demo.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -9,7 +9,7 @@
   </node>
 
   <!-- send pr2_r_arm.xml to param server -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_arm.xacro.xml'" />
+  <include file="$(find pr2_defs)/launch/upload_r_arm.launch" />
 
   <!-- push robot_description to factory and spawn robot in gazebo -->
   <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>

Modified: pkg/trunk/demos/arm_gazebo/r_gripper.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/r_gripper.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/demos/arm_gazebo/r_gripper.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -1,7 +1,7 @@
 <launch>
 
-  <!-- send pr2_r_arm.xml to param server -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_gripper.xacro.xml'" />
+  <!-- send pr2 right gripper urdf to param server -->
+  <include file="$(find pr2_defs)/launch/upload_r_gripper.launch" />
 
   <!-- push robot_description to factory and spawn robot in gazebo -->
   <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>

Modified: pkg/trunk/demos/arm_gazebo/tests/r_arm_constraint.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/tests/r_arm_constraint.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/demos/arm_gazebo/tests/r_arm_constraint.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -15,7 +15,7 @@
   -->
   
   <!-- send pr2_r_arm.xml to param server -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_arm.xacro.xml'" />
+  <include file="$(find pr2_defs)/launch/upload_r_arm.launch" />
 
   <!-- push robot_description to factory and spawn robot in gazebo -->
   <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>

Modified: pkg/trunk/demos/arm_gazebo/tests/r_arm_spacenav.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/tests/r_arm_spacenav.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/demos/arm_gazebo/tests/r_arm_spacenav.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -8,7 +8,7 @@
   </node>
 
   <!-- send pr2_r_arm.xml to param server -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_arm.xacro.xml'" />
+  <include file="$(find pr2_defs)/launch/upload_r_arm.launch" />
 
   <!-- push robot_description to factory and spawn robot in gazebo -->
   <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>

Modified: pkg/trunk/demos/pr2_gazebo/head_cart.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/head_cart.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/demos/pr2_gazebo/head_cart.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -1,6 +1,6 @@
 <launch>
   <!-- send head_cart.xml to param server -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/hca.xacro.xml'" />
+  <include file="$(find pr2_defs)/launch/upload_hca.launch" />
 
   <!-- push robot_description to factory and spawn robot in gazebo -->
   <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen" />

Modified: pkg/trunk/demos/pr2_gazebo/pr2.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/demos/pr2_gazebo/pr2.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -1,7 +1,7 @@
 <launch>
   
-  <!-- send pr2.xml to param server -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
+  <!-- send pr2 urdf to param server -->
+  <include file="$(find pr2_defs)/launch/upload_pr2.launch" />
 
   <!-- push robot_description to factory and spawn robot in gazebo -->
   <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen" />

Modified: pkg/trunk/demos/pr2_gazebo/prf.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/prf.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/demos/pr2_gazebo/prf.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -1,7 +1,8 @@
 <launch>
   
   <!-- send prf.xml to param server -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prf.xacro.xml'" />
+  <include file="$(find pr2_defs)/launch/upload_pr2.launch" />
+  <!-- <include file="$(find pr2_defs)/launch/upload_prf.launch" /> -->
 
   <!-- push robot_description to factory and spawn robot in gazebo -->
   <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen" />

Modified: pkg/trunk/demos/pr2_gazebo/prototype1.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/prototype1.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/demos/pr2_gazebo/prototype1.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -1,7 +1,7 @@
 <launch>
 
-  <!-- send urdf to param server -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prototype1.xacro.xml'" />
+  <!-- send prototype1 urdf to param server -->
+  <include file="$(find pr2_defs)/launch/upload_prototype1.launch" />
 
   <!-- push robot_description to factory and spawn robot in gazebo -->
   <node pkg="gazebo_tools" type="urdf2factory" args="robot_description 0 0 0 0 0 0 prototype1_model" respawn="false" />

Modified: pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.launch
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -8,7 +8,7 @@
   </node>
 
   <!-- send single_link.xml to param server -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
+  <include file="$(find pr2_defs)/launch/upload_pr2.launch" />
 
   <!-- push robot_description to factory and spawn robot in gazebo -->
   <node pkg="gazebo_tools" type="urdf2factory" args="robot_description 0 6 18 0 -75 90 pr2_model" respawn="false" output="screen" />

Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.launch
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -10,7 +10,7 @@
   </node>
 
   <!-- send single_link.xml to param server -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
+  <include file="$(find pr2_defs)/launch/upload_pr2.launch" />
 
   <!-- push robot_description to factory and spawn robot in gazebo -->
   <node pkg="gazebo_tools" type="urdf2factory" args="robot_description -3 0 0" respawn="false" output="screen" /> <!-- load default arm controller -->

Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.launch
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -10,7 +10,7 @@
   </node>
 
   <!-- send single_link.xml to param server -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
+  <include file="$(find pr2_defs)/launch/upload_pr2.launch" />
 
   <!-- push robot_description to factory and spawn robot in gazebo -->
   <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen" /> <!-- load default arm controller -->

Modified: pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_arm/init.launch
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_arm/init.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_arm/init.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -1,5 +1,5 @@
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_arm.xacro.xml'" />
+  <include file="$(find pr2_defs)/launch/upload_r_arm.launch" />
   <include file="$(find pr2_arm)/calibrate.launch" />
   <group name="wg">
     <node pkg="pr2_etherCAT" type="pr2_etherCAT" args="-i rteth0 -x /robot_description"

Modified: pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_arm/send_description.launch
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_arm/send_description.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_arm/send_description.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -1,5 +1,6 @@
 <launch>
 
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_arm.xacro.xml'" />
+  <!-- FIXME: whoever includes this file should include the file below directly -->
+  <include file="$(find pr2_defs)/launch/upload_r_arm.launch" />
 
 </launch>

Modified: pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/hca.launch
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/hca.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/hca.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -3,7 +3,7 @@
   <include file="$(find pr2_head_cart)/hca.machine" />
 
   <!-- Description and etherCAT --> 
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/hca.xacro.xml'" />
+  <include file="$(find pr2_defs)/launch/upload_hca.launch" />
 
   <node machine="realtime_root" pkg="pr2_etherCAT" type="pr2_etherCAT" args="-i eth0 -x robot_description" />
 

Modified: pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/hcb.launch
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/hcb.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/hcb.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -3,7 +3,7 @@
   <include file="$(find pr2_head_cart)/hcb.machine" />
 
   <!-- Description and etherCAT --> 
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/hcb.xacro.xml'" />
+  <include file="$(find pr2_defs)/launch/upload_hcb.launch" />
 
   <node machine="realtime_root" pkg="pr2_etherCAT" type="pr2_etherCAT" args="-i eth0 -x robot_description" />
 

Modified: pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/hcc.launch
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/hcc.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/hcc.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -3,7 +3,7 @@
   <include file="$(find pr2_head_cart)/hcc.machine" />
 
   <!-- Description and etherCAT --> 
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/hcc.xacro.xml'" />
+  <include file="$(find pr2_defs)/launch/upload_hcc.launch" />
 
   <node machine="realtime_root" pkg="pr2_etherCAT" type="pr2_etherCAT" args="-i eth0 -x robot_description" />
 

Modified: pkg/trunk/sandbox/dynamics_estimation/r_arm.launch
===================================================================
--- pkg/trunk/sandbox/dynamics_estimation/r_arm.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/sandbox/dynamics_estimation/r_arm.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -1,13 +1,11 @@
 <launch>
-  <!--
-    Run a PR2 left arm in simulation
-  -->
-  <group name="wg">
-
+    <!--
+      Run a PR2 right arm in simulation
+    -->
     <param name="/ros_gazebo/publish_rate_mechanism_state" value="1000"/>
 
-    <!-- send pr2_l_arm.xml to param server -->
-    <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_arm.xacro.xml'" />
+    <!-- send pr2 right arm urdf to parameter server -->
+    <include file="$(find pr2_defs)/launch/upload_r_arm.launch" />
 
     <!-- push robot_description to factory and spawn robot in gazebo -->
     <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
@@ -35,6 +33,5 @@
     <include file="$(find arm_gazebo)/debug_plot.launch"/>
     -->
 
-  </group>
 </launch>
 

Modified: pkg/trunk/sandbox/rtt_controller/demo.launch
===================================================================
--- pkg/trunk/sandbox/rtt_controller/demo.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/sandbox/rtt_controller/demo.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -1,5 +1,6 @@
 <launch>
 <!-- <node pkg="xacro" type="xacro.py" args="-o $(find rtt_controller)/pr2_desc.xml $(find pr2_defs)/robots/pr2.xacro.xml"  />-->
+<!-- new urdf format <node pkg="xacro" type="xacro.py" args="-o $(find rtt_controller)/pr2_desc.xml $(find pr2_defs)/robots/pr2.urdf.xacro"  />-->
  <include file="$(find pr2_alpha)/prf.machine" />
 <!-- RosDeployer -->
 <!-- <node machine="realtime_root" pkg="orocos_ros_integration" type="rosdeployer" args="-s $(find rtt_controller)/demo.xml -ldebug" output="screen"/>-->

Modified: pkg/trunk/sandbox/texas/texas.launch
===================================================================
--- pkg/trunk/sandbox/texas/texas.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/sandbox/texas/texas.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -4,7 +4,8 @@
   <machine name="realtime" address="texas" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="true"/>
 
   <!-- Uses special defs file for Alpha 2.0 hardware on PRE -->
-  <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find texas)/texas.xml'" />
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find texas)/texas.xml'" />
+  <param name="robot_description_new" command="$(find xacro)/xacro.py '$(find texas)/texas.urdf.xacro'" />
 
 <!-- pr2_etherCAT -->
   <node machine="realtime_root" pkg="pr2_etherCAT" type="pr2_etherCAT" args="-i eth0 -x /robotdesc/pr2"/>

Added: pkg/trunk/sandbox/texas/texas.urdf.xacro
===================================================================
--- pkg/trunk/sandbox/texas/texas.urdf.xacro	                        (rev 0)
+++ pkg/trunk/sandbox/texas/texas.urdf.xacro	2009-08-20 19:55:09 UTC (rev 22457)
@@ -0,0 +1,41 @@
+<robot name="texas">
+  <include filename="$(find pr2_defs)/calibration/default_cal.xml" />
+  <include filename="$(find pr2_defs)/defs/base/base_defs.urdf.xacro" />
+
+<pr2_caster suffix="bl" parent="base_link">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+</pr2_caster>
+
+  <!-- Solid Base for visualizer -->
+  <joint name="base_joint" type="planar">
+    <parent link="world" />
+    <origin xyz="0 0 1" rpy="0 0 0" /> 
+    <child link="base_link" />
+  </joint>
+
+  <link name="base_link">
+    <inertial>
+      <mass value="100" />
+      <com xyz=" 0 0 0 " /> 
+      <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 -1" rpy="0 0 0 " /> 
+      <map name="gazebo_material" flag="gazebo">
+        <elem key="material">Gazebo/White</elem>
+      </map>
+      <geometry name="pr2_base_mesh_file">
+        <mesh scale="20 20 0.01" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -1" rpy="0.0 0.0 0.0 " />
+      <geometry name="base_collision_geom">
+        <box size="20 20 0.01" />
+      </geometry>
+    </collision>
+  </link>
+
+
+</robot>
+

Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre_ethercat_reset.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre_ethercat_reset.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre_ethercat_reset.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -1,6 +1,6 @@
 <launch>
   <!-- Uses special defs file for Alpha 2.0 hardware on PRE -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pre.xacro.xml'" />
+  <include file="$(find pr2_defs)/launch/upload_pre.launch" />
 
   <include file="$(find pr2_alpha)/pre.machine" />
 

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf_ethercat_reset.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf_ethercat_reset.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf_ethercat_reset.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -1,10 +1,10 @@
 <launch>
 
   <!-- Calibrated Robot -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prf.xacro.xml'" />
+  <include file="$(find pr2_defs)/launch/upload_prf.launch" />
 
   <!-- Uncalibrated Robot -->
-  <!-- param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" / -->
+  <!-- <include file="$(find pr2_defs)/launch/upload_pr2.launch" /> -->
 
   <include file="$(find pr2_alpha)/prf.machine" />
 

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf_manip.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf_manip.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf_manip.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -1,5 +1,6 @@
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
+  <!-- <include file="$(find pr2_defs)/launch/upload_prf.launch" /> -->
+  <include file="$(find pr2_defs)/launch/upload_pr2.launch" />
 
   <machine name="realtime_root" user="root" address="prf1" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never"/>   
 

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf_sim.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf_sim.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf_sim.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -7,7 +7,7 @@
 
 <!-- start Gazebo -->
   <include file="$(find gazebo)/launch/empty_world.launch" />
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prf.xacro.xml'" />
+  <include file="$(find pr2_defs)/launch/upload_prf.launch" />
   <node pkg="gazebo_plugin" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
 
 

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg_ethercat_reset.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg_ethercat_reset.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg_ethercat_reset.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -1,10 +1,10 @@
 <launch>
 
   <!-- Calibrated Robot -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prg.xacro.xml'" />
+  <include file="$(find pr2_defs)/launch/upload_prg.launch" />
 
   <!-- Uncalibrated Robot -->
-  <!-- param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" / -->
+  <!-- <include file="$(find pr2_defs)/launch/upload_pr2.launch" /> -->
 
   <include file="$(find pr2_alpha)/prg.machine" />
 

Modified: pkg/trunk/stacks/pr2/pr2_alpha/send_description.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/send_description.launch	2009-08-20 19:49:39 UTC (rev 22456)
+++ pkg/trunk/stacks/pr2/pr2_alpha/send_description.launch	2009-08-20 19:55:09 UTC (rev 22457)
@@ -1,5 +1,6 @@
 <launch>
 
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
+  <!-- this is deprecated, should include the file below directly -->
+  <include file="$(find pr2_defs)/launch/upload_pr2.launch" />
 
 </launch>


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