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[Personalrobots-commit] SF.net SVN: personalrobots:[22504] pkg/trunk/sandbox/texas
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From: <wa...@us...> - 2009-08-21 01:05:46
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Revision: 22504
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=22504&view=rev
Author: wattsk
Date: 2009-08-21 01:05:38 +0000 (Fri, 21 Aug 2009)
Log Message:
-----------
Update for an alpha2 caster.
Modified Paths:
--------------
pkg/trunk/sandbox/texas/controllers.xml
pkg/trunk/sandbox/texas/dallas.yaml
pkg/trunk/sandbox/texas/drive.launch
pkg/trunk/sandbox/texas/mainpage.dox
pkg/trunk/sandbox/texas/manifest.xml
pkg/trunk/sandbox/texas/tdrive.py
pkg/trunk/sandbox/texas/texas.launch
Modified: pkg/trunk/sandbox/texas/controllers.xml
===================================================================
--- pkg/trunk/sandbox/texas/controllers.xml 2009-08-21 01:04:22 UTC (rev 22503)
+++ pkg/trunk/sandbox/texas/controllers.xml 2009-08-21 01:05:38 UTC (rev 22504)
@@ -1,8 +1,8 @@
<controllers>
<controller name="caster" type="CasterControllerNode">
- <joints caster="fl_caster_rotation_joint"
- wheel_l="fl_caster_l_wheel_joint"
- wheel_r="fl_caster_r_wheel_joint" />
+ <joints caster="bl_caster_rotation_joint"
+ wheel_l="bl_caster_l_wheel_joint"
+ wheel_r="bl_caster_r_wheel_joint" />
<caster_pid p="5.0" i="0" d="0" iClamp="0" />
<wheel_pid p="4" i="0" d="0" iClamp="0" />
</controller>
Modified: pkg/trunk/sandbox/texas/dallas.yaml
===================================================================
--- pkg/trunk/sandbox/texas/dallas.yaml 2009-08-21 01:04:22 UTC (rev 22503)
+++ pkg/trunk/sandbox/texas/dallas.yaml 2009-08-21 01:05:38 UTC (rev 22504)
@@ -2,12 +2,9 @@
type: DallasController
kp_caster_steer: 10.0
joints:
-# caster: bl_caster_rotation_joint
-# wheel_l: bl_caster_l_wheel_joint
-# wheel_r: bl_caster_r_wheel_joint
- caster: bl_caster_l_wheel_joint
- wheel_l: bl_caster_r_wheel_joint
- wheel_r: bl_caster_rotation_joint
+ caster: bl_caster_rotation_joint
+ wheel_l: bl_caster_l_wheel_joint
+ wheel_r: bl_caster_r_wheel_joint
caster_pid:
p: 3
wheel_pid:
Modified: pkg/trunk/sandbox/texas/drive.launch
===================================================================
--- pkg/trunk/sandbox/texas/drive.launch 2009-08-21 01:04:22 UTC (rev 22503)
+++ pkg/trunk/sandbox/texas/drive.launch 2009-08-21 01:05:38 UTC (rev 22504)
@@ -1,12 +1,11 @@
<launch>
+<rosparam command="load" file="$(find texas)/caster.yaml" />
+<node pkg="mechanism_control" type="spawner.py" args="caster_bl" />
-<node pkg="mechanism_control" type="spawner.py"
- args="$(find texas)/controllers.xml" />
+<node pkg="texas" type="tdrive.py" output="screen" />
-<node pkg="texas" type="tdrive.py" />
-
<node pkg="texas" type="teleop_texas_keyboard" output="screen" >
<param name="max_vel" type="double" value="6.0" />
</node>
-</launch>
\ No newline at end of file
+</launch>
Modified: pkg/trunk/sandbox/texas/mainpage.dox
===================================================================
--- pkg/trunk/sandbox/texas/mainpage.dox 2009-08-21 01:04:22 UTC (rev 22503)
+++ pkg/trunk/sandbox/texas/mainpage.dox 2009-08-21 01:05:38 UTC (rev 22504)
@@ -2,18 +2,19 @@
\mainpage
\htmlinclude manifest.html
-\b texas is ...
+\b texas contains the scripts necessary to launch and drive the DallasBot/SkypeBot.
-<!--
-In addition to providing an overview of your package,
-this is the section where the specification and design/architecture
-should be detailed. While the original specification may be done on the
-wiki, it should be transferred here once your package starts to take shape.
-You can then link to this documentation page from the Wiki.
--->
+\section codeapi Code API
+Launching the DallasBot:
+\verbatim
+roslaunch texas.launch
+\endverbatim
-\section codeapi Code API
+Driving the Dallas Bot:
+\verbatim
+roslaunch drive.launch
+\endverbatim
<!--
Provide links to specific auto-generated API documentation within your
Modified: pkg/trunk/sandbox/texas/manifest.xml
===================================================================
--- pkg/trunk/sandbox/texas/manifest.xml 2009-08-21 01:04:22 UTC (rev 22503)
+++ pkg/trunk/sandbox/texas/manifest.xml 2009-08-21 01:05:38 UTC (rev 22504)
@@ -1,13 +1,14 @@
<package>
<description brief="Brings up and controls Dallas Bot">
</description>
- <author>Dallas, Kevin</author>
+ <author>Dallas Goecker, Kevin Watts</author>
<license>BSD</license>
<review status="unreviewed" notes=""/>
<url>http://pr.willowgarage.com/wiki/texas</url>
<depend package="pr2_etherCAT"/>
<depend package="pr2_defs"/>
<depend package="mechanism_msgs" />
+ <depend package="pr2_mechanism_controllers" />
</package>
Modified: pkg/trunk/sandbox/texas/tdrive.py
===================================================================
--- pkg/trunk/sandbox/texas/tdrive.py 2009-08-21 01:04:22 UTC (rev 22503)
+++ pkg/trunk/sandbox/texas/tdrive.py 2009-08-21 01:05:38 UTC (rev 22504)
@@ -27,6 +27,7 @@
# POSSIBILITY OF SUCH DAMAGE.
# Author: Dallas Goecker
+
import time
import random
import roslib
@@ -68,11 +69,13 @@
pub_drive = rospy.Publisher("/caster/drive_velocity", Float64)
pub_steer.publish(Float64(0.0))
pub_drive.publish(Float64(0.0))
- print "Waiting for a mechanism_state message..."
+ print "tdrive.py: Waiting for robot JointStates publication..."
while not last_state.msg and not rospy.is_shutdown(): pass
+ print "tdrive.py: Waiting for TexasCmd publication..."
while not tx_cmd.msg and not rospy.is_shutdown(): pass
+ print "tdrive.py: looping..."
while not rospy.is_shutdown():
- time.sleep(0.01)
+ time.sleep(0.10)
# Get angle, velocity from command
drive_cmd = tx_cmd.last()
Modified: pkg/trunk/sandbox/texas/texas.launch
===================================================================
--- pkg/trunk/sandbox/texas/texas.launch 2009-08-21 01:04:22 UTC (rev 22503)
+++ pkg/trunk/sandbox/texas/texas.launch 2009-08-21 01:05:38 UTC (rev 22504)
@@ -1,7 +1,9 @@
<launch>
<machine name="realtime_root" user="root" address="texas" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never"/>
- <machine name="realtime" address="texas" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="true"/>
+ <machine name="realtime" address="texas" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="true">
+ <env name="PATH" value="$(env PATH):$(env ROS_ROOT)/bin" /> <!-- HACK. Depends on ROS bug #1586. Remove when closed -->
+ </machine>
<!-- Uses special defs file for Alpha 2.0 hardware on PRE -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find texas)/texas.xml'" />
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