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[Personalrobots-commit] SF.net SVN: personalrobots:[22474] pkg/trunk
|
From: <stu...@us...> - 2009-08-20 21:36:08
|
Revision: 22474
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=22474&view=rev
Author: stuglaser
Date: 2009-08-20 21:35:58 +0000 (Thu, 20 Aug 2009)
Log Message:
-----------
Moving messages and services out of robot_mechanism_controllers
Modified Paths:
--------------
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_calibration_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_traj_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_pd_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_position_controller.h
pkg/trunk/demos/plug_in/plug_in.py
pkg/trunk/highlevel/plugs/plugs_core/include/plugs_core/action_localize_plug_in_gripper.h
pkg/trunk/highlevel/plugs/plugs_core/src/action_localize_plug_in_gripper.cpp
pkg/trunk/pr2/tune_joints/plot_step.py
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_hybrid_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/caster_calibration_controller_effort.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_autotuner.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_blind_calibration_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_chain_constraint_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/laser_scanner_qualification.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/probe.h
pkg/trunk/sandbox/experimental_controllers/src/cartesian_hybrid_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/caster_calibration_controller_effort.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_autotuner.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_blind_calibration_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_chain_constraint_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/laser_scanner_qualification.cpp
pkg/trunk/sandbox/experimental_controllers/src/probe.cpp
Added Paths:
-----------
pkg/trunk/sandbox/experimental_controllers/msg/JointConstraint.msg
pkg/trunk/sandbox/experimental_controllers/msg/JointTuningMsg.msg
pkg/trunk/sandbox/experimental_controllers/scripts/
pkg/trunk/sandbox/experimental_controllers/scripts/add_constraint.py
pkg/trunk/sandbox/experimental_controllers/srv/
pkg/trunk/sandbox/experimental_controllers/srv/CalibrateJoint.srv
pkg/trunk/sandbox/experimental_controllers/srv/ChangeConstraints.srv
pkg/trunk/sandbox/experimental_controllers/srv/GetActual.srv
pkg/trunk/sandbox/experimental_controllers/srv/SetCommand.srv
pkg/trunk/sandbox/experimental_controllers/srv/SetPoseStamped.srv
Removed Paths:
-------------
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/plug_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/msg/JointConstraint.msg
pkg/trunk/controllers/robot_mechanism_controllers/msg/JointTuningMsg.msg
pkg/trunk/controllers/robot_mechanism_controllers/msg/SingleJointPosCmd.msg
pkg/trunk/controllers/robot_mechanism_controllers/scripts/add_constraint.py
pkg/trunk/controllers/robot_mechanism_controllers/srv/BeginJointSineSweep.srv
pkg/trunk/controllers/robot_mechanism_controllers/srv/CalibrateJoint.srv
pkg/trunk/controllers/robot_mechanism_controllers/srv/ChangeConstraints.srv
pkg/trunk/controllers/robot_mechanism_controllers/srv/GetActual.srv
pkg/trunk/controllers/robot_mechanism_controllers/srv/GetPDActual.srv
pkg/trunk/controllers/robot_mechanism_controllers/srv/GetPosition.srv
pkg/trunk/controllers/robot_mechanism_controllers/srv/SetCommand.srv
pkg/trunk/controllers/robot_mechanism_controllers/srv/SetPoseStamped.srv
pkg/trunk/controllers/robot_mechanism_controllers/srv/SetPosition.srv
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_calibration_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_calibration_controller.h 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_calibration_controller.h 2009-08-20 21:35:58 UTC (rev 22474)
@@ -38,7 +38,6 @@
#include "pr2_mechanism_controllers/caster_controller.h"
#include "realtime_tools/realtime_publisher.h"
#include "std_msgs/Empty.h"
-#include <robot_mechanism_controllers/CalibrateJoint.h>
namespace controller {
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_traj_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_traj_controller.h 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_traj_controller.h 2009-08-20 21:35:58 UTC (rev 22474)
@@ -52,8 +52,6 @@
#include <pr2_msgs/LaserTrajCmd.h>
// Services
-#include <robot_mechanism_controllers/SetCommand.h>
-#include <robot_mechanism_controllers/GetCommand.h>
#include <pr2_mechanism_controllers/SetProfile.h>
#include <pr2_srvs/SetPeriodicCmd.h>
#include <pr2_srvs/SetLaserTrajCmd.h>
Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_pd_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_pd_controller.h 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_pd_controller.h 2009-08-20 21:35:58 UTC (rev 22474)
@@ -60,7 +60,6 @@
// Services
#include <robot_mechanism_controllers/SetPDCommand.h>
-#include <robot_mechanism_controllers/GetPDActual.h>
#include <robot_mechanism_controllers/GetPDCommand.h>
#include <deprecated_msgs/JointCmd.h>
Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_position_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_position_controller.h 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_position_controller.h 2009-08-20 21:35:58 UTC (rev 22474)
@@ -63,14 +63,10 @@
#include <controller_interface/controller.h>
#include <control_toolbox/pid.h>
#include "control_toolbox/pid_gains_setter.h"
+#include <realtime_tools/realtime_publisher.h>
-// Services
#include <std_msgs/Float64.h>
-
-//Realtime publisher
#include <robot_mechanism_controllers/JointControllerState.h>
-#include <robot_mechanism_controllers/JointTuningMsg.h>
-#include <realtime_tools/realtime_publisher.h>
namespace controller
{
Deleted: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/plug_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/plug_controller.h 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/plug_controller.h 2009-08-20 21:35:58 UTC (rev 22474)
@@ -1,182 +0,0 @@
-/*
- * Copyright (c) 2008, Willow Garage, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * * Neither the name of the Willow Garage, Inc. nor the names of its
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-
-/*
- * Author: Melonee Wise
- */
-
-#ifndef PLUG_CONTROLLER_H
-#define PLUG_CONTROLLER_H
-
-#include <vector>
-#include "boost/scoped_ptr.hpp"
-#include "mechanism_model/chain.h"
-#include "kdl/chain.hpp"
-#include "kdl/frames.hpp"
-#include "kdl/chainfksolver.hpp"
-#include "ros/node.h"
-#include "geometry_msgs/Wrench.h"
-#include "geometry_msgs/PoseStamped.h"
-#include "geometry_msgs/Transform.h"
-#include "robot_mechanism_controllers/PlugInternalState.h"
-#include "robot_mechanism_controllers/SetPoseStamped.h"
-#include "control_toolbox/pid.h"
-#include "misc_utils/subscription_guard.h"
-#include "controller_interface/controller.h"
-#include "tf/transform_datatypes.h"
-#include "tf/transform_listener.h"
-#include "misc_utils/advertised_service_guard.h"
-#include "realtime_tools/realtime_publisher.h"
-
-#include "Eigen/Geometry"
-#include "Eigen/LU"
-#include "Eigen/Core"
-
-#include <visualization_msgs/Marker.h>
-
-
-namespace controller {
-
-class PlugController : public Controller
-{
-public:
- EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
- PlugController();
- ~PlugController();
-
- bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
- void update();
- void computeConstraintJacobian();
- void computeConstraintNullSpace();
-
- void setToolOffset(const tf::Transform &);
-
- std::string root_name_;
-
- // input of the controller
- KDL::Wrench wrench_desi_;
- Eigen::Matrix<float,6,1> task_wrench_;
- Eigen::Vector3f outlet_pt_;
- Eigen::Vector3f outlet_norm_; // this must be normalized
-
- KDL::Frame endeffector_frame_;
- KDL::Frame desired_frame_;
-
- mechanism::Chain chain_;
- KDL::Chain kdl_chain_;
-
- double dist_to_line_;
- double f_r_;
- double f_roll_;
- double f_pitch_;
- double f_yaw_;
- KDL::Twist pose_error_;
-
-private:
-
- mechanism::RobotState *robot_;
- std::string controller_name_;
- boost::scoped_ptr<KDL::ChainJntToJacSolver> jnt_to_jac_solver_;
- boost::scoped_ptr<KDL::ChainFkSolverPos> jnt_to_pose_solver_;
-
- // to get joint positions, velocities, and to set joint torques
- Eigen::Matrix<float,6,5> constraint_jac_;
- Eigen::Matrix<float,6,1> constraint_wrench_;
- Eigen::Matrix<float,5,1> constraint_force_;
- // joint constraint
- Eigen::MatrixXf joint_constraint_force_;
- Eigen::MatrixXf joint_constraint_jac_;
- Eigen::MatrixXf joint_constraint_null_space_;
-
- Eigen::MatrixXf task_jac_;
- Eigen::MatrixXf identity_;
- Eigen::MatrixXf identity_joint_;
- Eigen::MatrixXf constraint_null_space_;
- Eigen::MatrixXf constraint_torq_;
- Eigen::MatrixXf joint_constraint_torq_;
- Eigen::MatrixXf task_torq_;
-
- // some parameters to define the constraint
-
- double upper_arm_limit;
- double upper_arm_dead_zone;
- double f_r_max;
- double f_pose_max;
- double f_limit_max;
- double last_time_;
- bool initialized_;
-
-
-
-
- control_toolbox::Pid roll_pid_; /**< Internal PID controller. */
- control_toolbox::Pid pitch_pid_; /**< Internal PID controller. */
- control_toolbox::Pid yaw_pid_; /**< Internal PID controller. */
- control_toolbox::Pid line_pid_; /**< Internal PID controller. */
-};
-
-
-class PlugControllerNode : public Controller
-{
- public:
- EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
-
- PlugControllerNode();
- ~PlugControllerNode();
-
- bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
- void update();
- void command();
- void outletPose();
-
- bool setToolFrame(robot_mechanism_controllers::SetPoseStamped::Request &req,
- robot_mechanism_controllers::SetPoseStamped::Response &resp);
-
- private:
- std::string topic_;
- ros::Node *node_;
- PlugController controller_;
- SubscriptionGuard guard_command_;
- SubscriptionGuard guard_outlet_pose_;
- AdvertisedServiceGuard guard_set_tool_frame_;
-
- geometry_msgs::Wrench wrench_msg_;
- geometry_msgs::PoseStamped outlet_pose_msg_;
- unsigned int loop_count_;
-
- tf::TransformListener TF; /**< The transform for converting from point to head and tilt frames. */
- realtime_tools::RealtimePublisher <geometry_msgs::Transform>* current_frame_publisher_;
- realtime_tools::RealtimePublisher <robot_mechanism_controllers::PlugInternalState>* internal_state_publisher_;
-
-};
-
-} // namespace
-
-
-#endif
Deleted: pkg/trunk/controllers/robot_mechanism_controllers/msg/JointConstraint.msg
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/msg/JointConstraint.msg 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/controllers/robot_mechanism_controllers/msg/JointConstraint.msg 2009-08-20 21:35:58 UTC (rev 22474)
@@ -1,10 +0,0 @@
-string id
-string joint_name
-float64 threshold_start
-float64 nullspace_start
-float64 max_constraint_torque
-float64 p
-float64 i
-float64 d
-float64 i_clamp
-byte remove
Deleted: pkg/trunk/controllers/robot_mechanism_controllers/msg/JointTuningMsg.msg
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/msg/JointTuningMsg.msg 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/controllers/robot_mechanism_controllers/msg/JointTuningMsg.msg 2009-08-20 21:35:58 UTC (rev 22474)
@@ -1,7 +0,0 @@
-float64 set_point
-float64 position
-float64 velocity
-float64 torque
-float64 torque_measured
-float64 time_step
-int32 count
\ No newline at end of file
Deleted: pkg/trunk/controllers/robot_mechanism_controllers/msg/SingleJointPosCmd.msg
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/msg/SingleJointPosCmd.msg 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/controllers/robot_mechanism_controllers/msg/SingleJointPosCmd.msg 2009-08-20 21:35:58 UTC (rev 22474)
@@ -1,3 +0,0 @@
-float64 position
-float64 margin
-float64 timeout
Deleted: pkg/trunk/controllers/robot_mechanism_controllers/scripts/add_constraint.py
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/scripts/add_constraint.py 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/controllers/robot_mechanism_controllers/scripts/add_constraint.py 2009-08-20 21:35:58 UTC (rev 22474)
@@ -1,29 +0,0 @@
-#! /usr/bin/env python
-
-import roslib
-roslib.load_manifest('robot_mechanism_controllers')
-
-import rospy, sys
-from robot_mechanism_controllers.srv import *
-from robot_mechanism_controllers.msg import *
-
-
-def print_usage(exit_code = 0):
- print '''Commands:
- <name> <args> - Create filter with name and args
- usage: filter_coeff_client butter 2 .1
- usage: filter_coeff_client butter 2 .1 high
-
-'''
- sys.exit(exit_code)
-
-if __name__ == '__main__':
- if len(sys.argv) == 1:
- print_usage()
- else: # Call the service
- rospy.wait_for_service('/arm_constraint/add_constraints')
- s = rospy.ServiceProxy('/arm_constraint/add_constraints', ChangeConstraints )
- # params: constraint_id, joint, start force, start nulspace, max force, p, i, d, i_clamp, not_used_param
- resp = s.call(ChangeConstraintsRequest(JointConstraint('upper_arm', 'r_upper_arm_roll_joint', 0, -0.4, 300, 100, 0, 0, 0, 0)))
- print "resp="+ str(resp.add_ok)
-
Deleted: pkg/trunk/controllers/robot_mechanism_controllers/srv/BeginJointSineSweep.srv
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/srv/BeginJointSineSweep.srv 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/controllers/robot_mechanism_controllers/srv/BeginJointSineSweep.srv 2009-08-20 21:35:58 UTC (rev 22474)
@@ -1,5 +0,0 @@
-float64 start_frequency
-float64 end_frequency
-float64 duration
-float64 amplitude
----
Deleted: pkg/trunk/controllers/robot_mechanism_controllers/srv/CalibrateJoint.srv
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/srv/CalibrateJoint.srv 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/controllers/robot_mechanism_controllers/srv/CalibrateJoint.srv 2009-08-20 21:35:58 UTC (rev 22474)
@@ -1,2 +0,0 @@
----
-float64 offset
\ No newline at end of file
Deleted: pkg/trunk/controllers/robot_mechanism_controllers/srv/ChangeConstraints.srv
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/srv/ChangeConstraints.srv 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/controllers/robot_mechanism_controllers/srv/ChangeConstraints.srv 2009-08-20 21:35:58 UTC (rev 22474)
@@ -1,4 +0,0 @@
-robot_mechanism_controllers/JointConstraint constraint
----
-uint8 add_ok
-
Deleted: pkg/trunk/controllers/robot_mechanism_controllers/srv/GetActual.srv
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/srv/GetActual.srv 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/controllers/robot_mechanism_controllers/srv/GetActual.srv 2009-08-20 21:35:58 UTC (rev 22474)
@@ -1,3 +0,0 @@
----
-float64 time
-float64 command
Deleted: pkg/trunk/controllers/robot_mechanism_controllers/srv/GetPDActual.srv
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/srv/GetPDActual.srv 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/controllers/robot_mechanism_controllers/srv/GetPDActual.srv 2009-08-20 21:35:58 UTC (rev 22474)
@@ -1,4 +0,0 @@
----
-float64 time
-float64 state
-float64 state_dot
\ No newline at end of file
Deleted: pkg/trunk/controllers/robot_mechanism_controllers/srv/GetPosition.srv
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/srv/GetPosition.srv 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/controllers/robot_mechanism_controllers/srv/GetPosition.srv 2009-08-20 21:35:58 UTC (rev 22474)
@@ -1,3 +0,0 @@
----
-float64 time
-float64 command
Deleted: pkg/trunk/controllers/robot_mechanism_controllers/srv/SetCommand.srv
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/srv/SetCommand.srv 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/controllers/robot_mechanism_controllers/srv/SetCommand.srv 2009-08-20 21:35:58 UTC (rev 22474)
@@ -1,3 +0,0 @@
-float64 command
----
-float64 command
Deleted: pkg/trunk/controllers/robot_mechanism_controllers/srv/SetPoseStamped.srv
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/srv/SetPoseStamped.srv 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/controllers/robot_mechanism_controllers/srv/SetPoseStamped.srv 2009-08-20 21:35:58 UTC (rev 22474)
@@ -1,2 +0,0 @@
-geometry_msgs/PoseStamped p
----
Deleted: pkg/trunk/controllers/robot_mechanism_controllers/srv/SetPosition.srv
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/srv/SetPosition.srv 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/controllers/robot_mechanism_controllers/srv/SetPosition.srv 2009-08-20 21:35:58 UTC (rev 22474)
@@ -1,4 +0,0 @@
-float64 position
----
-float64 time
-float64 command
Modified: pkg/trunk/demos/plug_in/plug_in.py
===================================================================
--- pkg/trunk/demos/plug_in/plug_in.py 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/demos/plug_in/plug_in.py 2009-08-20 21:35:58 UTC (rev 22474)
@@ -34,7 +34,7 @@
roslib.load_manifest('plug_in')
import rospy
from geometry.msg import PoseStamped
-from robot_mechanism_controllers.srv import SetPoseStamped
+from experimental_controllers.srv import SetPoseStamped
CONTROLLER = 'arm_constraint'
Modified: pkg/trunk/highlevel/plugs/plugs_core/include/plugs_core/action_localize_plug_in_gripper.h
===================================================================
--- pkg/trunk/highlevel/plugs/plugs_core/include/plugs_core/action_localize_plug_in_gripper.h 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/highlevel/plugs/plugs_core/include/plugs_core/action_localize_plug_in_gripper.h 2009-08-20 21:35:58 UTC (rev 22474)
@@ -48,7 +48,7 @@
// Srvs
#include <deprecated_srvs/MoveToPose.h>
-#include "robot_mechanism_controllers/SetPoseStamped.h"
+#include "experimental_controllers/SetPoseStamped.h"
//TF
#include <tf/tf.h>
#include <tf/transform_listener.h>
Modified: pkg/trunk/highlevel/plugs/plugs_core/src/action_localize_plug_in_gripper.cpp
===================================================================
--- pkg/trunk/highlevel/plugs/plugs_core/src/action_localize_plug_in_gripper.cpp 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/highlevel/plugs/plugs_core/src/action_localize_plug_in_gripper.cpp 2009-08-20 21:35:58 UTC (rev 22474)
@@ -204,9 +204,9 @@
node_.unsubscribe("/plug_detector/plug_pose");
return;
}
- robot_mechanism_controllers::SetPoseStamped::Request req_tool;
+ experimental_controllers::SetPoseStamped::Request req_tool;
req_tool.p = plug_pose_msg_;
- robot_mechanism_controllers::SetPoseStamped::Response res_tool;
+ experimental_controllers::SetPoseStamped::Response res_tool;
if (!ros::service::call(servoing_controller_ + "/set_tool_frame", req_tool, res_tool))
{
ROS_ERROR("%s: Failed to set tool frame.", action_name_.c_str());
Modified: pkg/trunk/pr2/tune_joints/plot_step.py
===================================================================
--- pkg/trunk/pr2/tune_joints/plot_step.py 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/pr2/tune_joints/plot_step.py 2009-08-20 21:35:58 UTC (rev 22474)
@@ -3,7 +3,7 @@
import roslib; roslib.load_manifest("tune_joints")
import rospy
from std_msgs.msg import Float64
-from robot_mechanism_controllers.msg import JointTuningMsg
+from experimental_controllers.msg import JointTuningMsg
import sys
import time
Modified: pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_hybrid_controller.h
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_hybrid_controller.h 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_hybrid_controller.h 2009-08-20 21:35:58 UTC (rev 22474)
@@ -43,7 +43,7 @@
#include "filters/filter_chain.h"
#include "control_toolbox/pid_gains_setter.h"
-#include "robot_mechanism_controllers/SetPoseStamped.h"
+#include "experimental_controllers/SetPoseStamped.h"
#include "manipulation_msgs/TaskFrameFormalism.h"
#include "experimental_controllers/CartesianHybridState.h"
@@ -113,8 +113,8 @@
void command(const tf::MessageNotifier<manipulation_msgs::TaskFrameFormalism>::MessagePtr& tff_msg);
- bool setToolFrame(robot_mechanism_controllers::SetPoseStamped::Request &req,
- robot_mechanism_controllers::SetPoseStamped::Response &resp);
+ bool setToolFrame(experimental_controllers::SetPoseStamped::Request &req,
+ experimental_controllers::SetPoseStamped::Response &resp);
private:
ros::NodeHandle node_;
Modified: pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/caster_calibration_controller_effort.h
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/caster_calibration_controller_effort.h 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/caster_calibration_controller_effort.h 2009-08-20 21:35:58 UTC (rev 22474)
@@ -37,7 +37,7 @@
#include "experimental_controllers/caster_controller_effort.h"
#include "realtime_tools/realtime_publisher.h"
#include "std_msgs/Empty.h"
-#include <robot_mechanism_controllers/CalibrateJoint.h>
+#include <experimental_controllers/CalibrateJoint.h>
namespace controller {
@@ -88,8 +88,8 @@
bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
- bool calibrateCommand(robot_mechanism_controllers::CalibrateJoint::Request &req,
- robot_mechanism_controllers::CalibrateJoint::Response &resp);
+ bool calibrateCommand(experimental_controllers::CalibrateJoint::Request &req,
+ experimental_controllers::CalibrateJoint::Response &resp);
private:
mechanism::RobotState *robot_;
Modified: pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_autotuner.h
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_autotuner.h 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_autotuner.h 2009-08-20 21:35:58 UTC (rev 22474)
@@ -50,8 +50,8 @@
#include <control_toolbox/pid.h>
// Services
-#include <robot_mechanism_controllers/SetCommand.h>
-#include <robot_mechanism_controllers/GetActual.h>
+#include <experimental_controllers/SetCommand.h>
+#include <experimental_controllers/GetActual.h>
namespace controller
{
@@ -182,11 +182,11 @@
bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
// Services
- bool setCommand(robot_mechanism_controllers::SetCommand::Request &req,
- robot_mechanism_controllers::SetCommand::Response &resp);
+ bool setCommand(experimental_controllers::SetCommand::Request &req,
+ experimental_controllers::SetCommand::Response &resp);
- bool getActual(robot_mechanism_controllers::GetActual::Request &req,
- robot_mechanism_controllers::GetActual::Response &resp);
+ bool getActual(experimental_controllers::GetActual::Request &req,
+ experimental_controllers::GetActual::Response &resp);
private:
JointAutotuner *c_;
Modified: pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_blind_calibration_controller.h
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_blind_calibration_controller.h 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_blind_calibration_controller.h 2009-08-20 21:35:58 UTC (rev 22474)
@@ -61,7 +61,7 @@
#include "misc_utils/advertised_service_guard.h"
// Services
-#include <robot_mechanism_controllers/CalibrateJoint.h>
+#include <experimental_controllers/CalibrateJoint.h>
namespace controller
@@ -144,8 +144,8 @@
bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
// Services
- bool calibrateCommand(robot_mechanism_controllers::CalibrateJoint::Request &req,
- robot_mechanism_controllers::CalibrateJoint::Response &resp);
+ bool calibrateCommand(experimental_controllers::CalibrateJoint::Request &req,
+ experimental_controllers::CalibrateJoint::Response &resp);
private:
JointBlindCalibrationController *c_;
Modified: pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_chain_constraint_controller.h
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_chain_constraint_controller.h 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_chain_constraint_controller.h 2009-08-20 21:35:58 UTC (rev 22474)
@@ -60,8 +60,8 @@
#include "ros/node.h"
#include "control_toolbox/pid.h"
#include "geometry_msgs/Wrench.h"
-#include "robot_mechanism_controllers/ChangeConstraints.h"
-#include "robot_mechanism_controllers/JointConstraint.h"
+#include "experimental_controllers/ChangeConstraints.h"
+#include "experimental_controllers/JointConstraint.h"
#include "controller_interface/controller.h"
#include "mechanism_model/chain.h"
@@ -119,8 +119,8 @@
void computeConstraintTorques();
void computeConstraintJacobian();
void computeConstraintNullSpace();
- bool addConstraint(robot_mechanism_controllers::ChangeConstraints::Request &req,
- robot_mechanism_controllers::ChangeConstraints::Response &resp);
+ bool addConstraint(experimental_controllers::ChangeConstraints::Request &req,
+ experimental_controllers::ChangeConstraints::Response &resp);
ros::Node* node_;
Eigen::Matrix<float,6,1> task_wrench_;
Modified: pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/laser_scanner_qualification.h
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/laser_scanner_qualification.h 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/laser_scanner_qualification.h 2009-08-20 21:35:58 UTC (rev 22474)
@@ -40,8 +40,9 @@
#include <robot_mechanism_controllers/joint_velocity_controller.h>
// Services
-#include <robot_mechanism_controllers/SetCommand.h>
-#include <robot_mechanism_controllers/GetCommand.h>
+#include <experimental_controllers/SetCommand.h>
+#include <experimental_controllers/GetCommand.h>
+#include <experimental_controllers/GetActual.h>
#include <robot_mechanism_controllers/SetProfile.h>
namespace controller
{
@@ -153,14 +154,14 @@
bool initXml(mechanism::Robot *robot, TiXmlElement *config);
// Services
- bool setCommand(robot_mechanism_controllers::SetCommand::Request &req,
- robot_mechanism_controllers::SetCommand::Response &resp);
+ bool setCommand(experimental_controllers::SetCommand::Request &req,
+ experimental_controllers::SetCommand::Response &resp);
- bool getCommand(robot_mechanism_controllers::GetCommand::Request &req,
- robot_mechanism_controllers::GetCommand::Response &resp);
+ bool getCommand(experimental_controllers::GetCommand::Request &req,
+ experimental_controllers::GetCommand::Response &resp);
- bool getActual(robot_mechanism_controllers::GetActual::Request &req,
- robot_mechanism_controllers::GetActual::Response &resp);
+ bool getActual(experimental_controllers::GetActual::Request &req,
+ experimental_controllers::GetActual::Response &resp);
Modified: pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/probe.h
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/probe.h 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/probe.h 2009-08-20 21:35:58 UTC (rev 22474)
@@ -38,7 +38,7 @@
#include <controller_interface/controller.h>
#include <robot_mechanism_controllers/JointControllerState.h>
-#include <robot_mechanism_controllers/JointTuningMsg.h>
+#include <experimental_controllers/JointTuningMsg.h>
namespace controller
{
Copied: pkg/trunk/sandbox/experimental_controllers/msg/JointConstraint.msg (from rev 22473, pkg/trunk/controllers/robot_mechanism_controllers/msg/JointConstraint.msg)
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/msg/JointConstraint.msg (rev 0)
+++ pkg/trunk/sandbox/experimental_controllers/msg/JointConstraint.msg 2009-08-20 21:35:58 UTC (rev 22474)
@@ -0,0 +1,10 @@
+string id
+string joint_name
+float64 threshold_start
+float64 nullspace_start
+float64 max_constraint_torque
+float64 p
+float64 i
+float64 d
+float64 i_clamp
+byte remove
Copied: pkg/trunk/sandbox/experimental_controllers/msg/JointTuningMsg.msg (from rev 22473, pkg/trunk/controllers/robot_mechanism_controllers/msg/JointTuningMsg.msg)
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/msg/JointTuningMsg.msg (rev 0)
+++ pkg/trunk/sandbox/experimental_controllers/msg/JointTuningMsg.msg 2009-08-20 21:35:58 UTC (rev 22474)
@@ -0,0 +1,7 @@
+float64 set_point
+float64 position
+float64 velocity
+float64 torque
+float64 torque_measured
+float64 time_step
+int32 count
\ No newline at end of file
Copied: pkg/trunk/sandbox/experimental_controllers/scripts/add_constraint.py (from rev 22473, pkg/trunk/controllers/robot_mechanism_controllers/scripts/add_constraint.py)
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/scripts/add_constraint.py (rev 0)
+++ pkg/trunk/sandbox/experimental_controllers/scripts/add_constraint.py 2009-08-20 21:35:58 UTC (rev 22474)
@@ -0,0 +1,29 @@
+#! /usr/bin/env python
+
+import roslib
+roslib.load_manifest('experimental_controllers')
+
+import rospy, sys
+from experimental_controllers.srv import *
+from experimental_controllers.msg import *
+
+
+def print_usage(exit_code = 0):
+ print '''Commands:
+ <name> <args> - Create filter with name and args
+ usage: filter_coeff_client butter 2 .1
+ usage: filter_coeff_client butter 2 .1 high
+
+'''
+ sys.exit(exit_code)
+
+if __name__ == '__main__':
+ if len(sys.argv) == 1:
+ print_usage()
+ else: # Call the service
+ rospy.wait_for_service('/arm_constraint/add_constraints')
+ s = rospy.ServiceProxy('/arm_constraint/add_constraints', ChangeConstraints )
+ # params: constraint_id, joint, start force, start nulspace, max force, p, i, d, i_clamp, not_used_param
+ resp = s.call(ChangeConstraintsRequest(JointConstraint('upper_arm', 'r_upper_arm_roll_joint', 0, -0.4, 300, 100, 0, 0, 0, 0)))
+ print "resp="+ str(resp.add_ok)
+
Modified: pkg/trunk/sandbox/experimental_controllers/src/cartesian_hybrid_controller.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/cartesian_hybrid_controller.cpp 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/sandbox/experimental_controllers/src/cartesian_hybrid_controller.cpp 2009-08-20 21:35:58 UTC (rev 22474)
@@ -641,8 +641,8 @@
}
bool CartesianHybridControllerNode::setToolFrame(
- robot_mechanism_controllers::SetPoseStamped::Request &req,
- robot_mechanism_controllers::SetPoseStamped::Response &resp)
+ experimental_controllers::SetPoseStamped::Request &req,
+ experimental_controllers::SetPoseStamped::Response &resp)
{
if (!TF.canTransform(c_.kdl_chain_.getSegment(c_.kdl_chain_.getNrOfSegments()-1).getName(), req.p.header.frame_id,
req.p.header.stamp, ros::Duration(3.0)))
Modified: pkg/trunk/sandbox/experimental_controllers/src/caster_calibration_controller_effort.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/caster_calibration_controller_effort.cpp 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/sandbox/experimental_controllers/src/caster_calibration_controller_effort.cpp 2009-08-20 21:35:58 UTC (rev 22474)
@@ -185,7 +185,7 @@
}
- bool CasterCalibrationControllerEffortNode::calibrateCommand(robot_mechanism_controllers::CalibrateJoint::Request &req, robot_mechanism_controllers::CalibrateJoint::Response &resp)
+ bool CasterCalibrationControllerEffortNode::calibrateCommand(experimental_controllers::CalibrateJoint::Request &req, experimental_controllers::CalibrateJoint::Response &resp)
{
c_.beginCalibration();
ros::Duration d=ros::Duration(0,1000000);
Modified: pkg/trunk/sandbox/experimental_controllers/src/joint_autotuner.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/joint_autotuner.cpp 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/sandbox/experimental_controllers/src/joint_autotuner.cpp 2009-08-20 21:35:58 UTC (rev 22474)
@@ -322,8 +322,8 @@
}
bool JointAutotunerNode::setCommand(
- robot_mechanism_controllers::SetCommand::Request &req,
- robot_mechanism_controllers::SetCommand::Response &resp)
+ experimental_controllers::SetCommand::Request &req,
+ experimental_controllers::SetCommand::Response &resp)
{
c_->setCommand(req.command);
resp.command = c_->getCommand();
@@ -332,8 +332,8 @@
}
bool JointAutotunerNode::getActual(
- robot_mechanism_controllers::GetActual::Request &req,
- robot_mechanism_controllers::GetActual::Response &resp)
+ experimental_controllers::GetActual::Request &req,
+ experimental_controllers::GetActual::Response &resp)
{
resp.command = c_->getMeasuredState();
resp.time = c_->getTime();
Modified: pkg/trunk/sandbox/experimental_controllers/src/joint_blind_calibration_controller.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/joint_blind_calibration_controller.cpp 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/sandbox/experimental_controllers/src/joint_blind_calibration_controller.cpp 2009-08-20 21:35:58 UTC (rev 22474)
@@ -207,7 +207,7 @@
}
- bool JointBlindCalibrationControllerNode::calibrateCommand(robot_mechanism_controllers::CalibrateJoint::Request &req, robot_mechanism_controllers::CalibrateJoint::Response &resp)
+ bool JointBlindCalibrationControllerNode::calibrateCommand(experimental_controllers::CalibrateJoint::Request &req, experimental_controllers::CalibrateJoint::Response &resp)
{
c_->beginCalibration();
ros::Duration d = ros::Duration(0,1000000);
Modified: pkg/trunk/sandbox/experimental_controllers/src/joint_chain_constraint_controller.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/joint_chain_constraint_controller.cpp 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/sandbox/experimental_controllers/src/joint_chain_constraint_controller.cpp 2009-08-20 21:35:58 UTC (rev 22474)
@@ -247,8 +247,8 @@
}
-bool JointChainConstraintController::addConstraint(robot_mechanism_controllers::ChangeConstraints::Request &req,
- robot_mechanism_controllers::ChangeConstraints::Response &resp)
+bool JointChainConstraintController::addConstraint(experimental_controllers::ChangeConstraints::Request &req,
+ experimental_controllers::ChangeConstraints::Response &resp)
{
ConstraintState temp;
bool found = false;
Modified: pkg/trunk/sandbox/experimental_controllers/src/laser_scanner_qualification.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/laser_scanner_qualification.cpp 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/sandbox/experimental_controllers/src/laser_scanner_qualification.cpp 2009-08-20 21:35:58 UTC (rev 22474)
@@ -291,15 +291,15 @@
}
bool LaserScannerQualificationNode::setCommand(
- robot_mechanism_controllers::SetCommand::Request &req,
- robot_mechanism_controllers::SetCommand::Response &resp)
+ experimental_controllers::SetCommand::Request &req,
+ experimental_controllers::SetCommand::Response &resp)
{
return true;
}
bool LaserScannerQualificationNode::getCommand(
- robot_mechanism_controllers::GetCommand::Request &req,
- robot_mechanism_controllers::GetCommand::Response &resp)
+ experimental_controllers::GetCommand::Request &req,
+ experimental_controllers::GetCommand::Response &resp)
{
return true;
}
@@ -316,8 +316,8 @@
return true;
}
bool LaserScannerQualificationNode::getActual(
- robot_mechanism_controllers::GetActual::Request &req,
- robot_mechanism_controllers::GetActual::Response &resp)
+ experimental_controllers::GetActual::Request &req,
+ experimental_controllers::GetActual::Response &resp)
{
resp.command = c_->getMeasuredPosition();
resp.time = c_->getTime();
Modified: pkg/trunk/sandbox/experimental_controllers/src/probe.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/probe.cpp 2009-08-20 21:27:44 UTC (rev 22473)
+++ pkg/trunk/sandbox/experimental_controllers/src/probe.cpp 2009-08-20 21:35:58 UTC (rev 22474)
@@ -28,7 +28,7 @@
*/
#include "experimental_controllers/probe.h"
-#include "robot_mechanism_controllers/JointTuningMsg.h"
+#include "experimental_controllers/JointTuningMsg.h"
namespace controller {
@@ -61,7 +61,7 @@
return false;
}
- pub_probe_ = node_.advertise<robot_mechanism_controllers::JointTuningMsg>("/probe/" + joint_->joint_->name_, 100);
+ pub_probe_ = node_.advertise<experimental_controllers::JointTuningMsg>("/probe/" + joint_->joint_->name_, 100);
ROS_WARN("Probe initialized on joint %s. Prepare for realtime breakage.", joint_name);
@@ -70,7 +70,7 @@
void Probe::update()
{
- robot_mechanism_controllers::JointTuningMsg msg;
+ experimental_controllers::JointTuningMsg msg;
msg.position = joint_->position_;
msg.velocity = joint_->velocity_;
msg.torque = joint_->commanded_effort_;
Copied: pkg/trunk/sandbox/experimental_controllers/srv/CalibrateJoint.srv (from rev 22473, pkg/trunk/controllers/robot_mechanism_controllers/srv/CalibrateJoint.srv)
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/srv/CalibrateJoint.srv (rev 0)
+++ pkg/trunk/sandbox/experimental_controllers/srv/CalibrateJoint.srv 2009-08-20 21:35:58 UTC (rev 22474)
@@ -0,0 +1,2 @@
+---
+float64 offset
\ No newline at end of file
Added: pkg/trunk/sandbox/experimental_controllers/srv/ChangeConstraints.srv
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/srv/ChangeConstraints.srv (rev 0)
+++ pkg/trunk/sandbox/experimental_controllers/srv/ChangeConstraints.srv 2009-08-20 21:35:58 UTC (rev 22474)
@@ -0,0 +1,4 @@
+experimental_controllers/JointConstraint constraint
+---
+uint8 add_ok
+
Copied: pkg/trunk/sandbox/experimental_controllers/srv/GetActual.srv (from rev 22473, pkg/trunk/controllers/robot_mechanism_controllers/srv/GetActual.srv)
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/srv/GetActual.srv (rev 0)
+++ pkg/trunk/sandbox/experimental_controllers/srv/GetActual.srv 2009-08-20 21:35:58 UTC (rev 22474)
@@ -0,0 +1,3 @@
+---
+float64 time
+float64 command
Copied: pkg/trunk/sandbox/experimental_controllers/srv/SetCommand.srv (from rev 22473, pkg/trunk/controllers/robot_mechanism_controllers/srv/SetCommand.srv)
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/srv/SetCommand.srv (rev 0)
+++ pkg/trunk/sandbox/experimental_controllers/srv/SetCommand.srv 2009-08-20 21:35:58 UTC (rev 22474)
@@ -0,0 +1,3 @@
+float64 command
+---
+float64 command
Copied: pkg/trunk/sandbox/experimental_controllers/srv/SetPoseStamped.srv (from rev 22473, pkg/trunk/controllers/robot_mechanism_controllers/srv/SetPoseStamped.srv)
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/srv/SetPoseStamped.srv (rev 0)
+++ pkg/trunk/sandbox/experimental_controllers/srv/SetPoseStamped.srv 2009-08-20 21:35:58 UTC (rev 22474)
@@ -0,0 +1,2 @@
+geometry_msgs/PoseStamped p
+---
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