[Personalrobots-commit] SF.net SVN: personalrobots:[22540] pkg/trunk/sandbox/texas

[<wa...@us...>]

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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