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From: <wa...@us...> - 2009-08-21 06:45:44
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Revision: 22540
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=22540&view=rev
Author: wattsk
Date: 2009-08-21 06:45:36 +0000 (Fri, 21 Aug 2009)
Log Message:
-----------
Uses Aplha2. Calibrates Correctly. Used Eric?\194?\180s help. Does not communicate CasterController.
Modified Paths:
--------------
pkg/trunk/sandbox/texas/tdrive.py
pkg/trunk/sandbox/texas/texas.launch
pkg/trunk/sandbox/texas/texas.xml
Modified: pkg/trunk/sandbox/texas/tdrive.py
===================================================================
--- pkg/trunk/sandbox/texas/tdrive.py 2009-08-21 06:19:55 UTC (rev 22539)
+++ pkg/trunk/sandbox/texas/tdrive.py 2009-08-21 06:45:36 UTC (rev 22540)
@@ -65,7 +65,7 @@
last_state = LastMessage('/joint_states', JointStates)
tx_cmd = LastMessage('texas_cmd', TexasCmd)
- pub_steer = rospy.Publisher("/caster/steer_velocity", Float64)
+ pub_steer = rospy.Publisher("/caster_bl/caster/set_command", Float64)
pub_drive = rospy.Publisher("/caster/drive_velocity", Float64)
pub_steer.publish(Float64(0.0))
pub_drive.publish(Float64(0.0))
Modified: pkg/trunk/sandbox/texas/texas.launch
===================================================================
--- pkg/trunk/sandbox/texas/texas.launch 2009-08-21 06:19:55 UTC (rev 22539)
+++ pkg/trunk/sandbox/texas/texas.launch 2009-08-21 06:45:36 UTC (rev 22540)
@@ -1,20 +1,21 @@
<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">
- <env name="PATH" value="$(env PATH):$(env ROS_ROOT)/bin" /> <!-- HACK. Depends on ROS bug #1586. Remove when closed -->
- </machine>
+ <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="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'" />
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find texas)/texas.xml'" />
+ <!-- Definitions for calibration controllers -->
+ <rosparam command="load" file="$(find pr2_default_controllers)/pr2_calibration_controllers.yaml" />
+ <node pkg="mechanism_bringup" type="calibrate.py" args="cal_caster_bl_alpha2"/>
+
<!-- pr2_etherCAT -->
- <node machine="realtime_root" pkg="pr2_etherCAT" type="pr2_etherCAT" args="-i eth0 -x /robotdesc/pr2"/>
+ <node machine="realtime_root" pkg="pr2_etherCAT" type="pr2_etherCAT" args="-i eth0 -x /robotdesc/pr2" output="screen"/>
<!-- Runtime Diagnostics Logging -->
- <node pkg="rosrecord" type="rosrecord" args="-f /hwlog/texas /diagnostics" />
+ <node pkg="rosrecord" type="rosrecord" args="-f /hwlog/pre_runtime_automatic /diagnostics" />
</launch>
Modified: pkg/trunk/sandbox/texas/texas.xml
===================================================================
--- pkg/trunk/sandbox/texas/texas.xml 2009-08-21 06:19:55 UTC (rev 22539)
+++ pkg/trunk/sandbox/texas/texas.xml 2009-08-21 06:45:36 UTC (rev 22540)
@@ -1,10 +1,10 @@
<robot name="texas">
<include filename="$(find pr2_defs)/calibration/default_cal.xml" />
- <include filename="$(find pr2_defs)/defs/base_defs.xml" />
+ <include filename="$(find pr2_defs)/defs/alpha2_base_defs.xml" />
-<pr2_caster suffix="bl" parent="base_link">
+<pr2_caster_alpha2 suffix="bl" parent="base_link" ref_position="0">
<origin xyz="0 0 0" rpy="0 0 0" />
-</pr2_caster>
+</pr2_caster_alpha2>
<!-- Solid Base for visualizer -->
<joint name="base_joint" type="planar" />
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