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[Personalrobots-commit] SF.net SVN: personalrobots:[22608] pkg/trunk
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From: <stu...@us...> - 2009-08-21 22:49:20
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Revision: 22608
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=22608&view=rev
Author: stuglaser
Date: 2009-08-21 22:49:14 +0000 (Fri, 21 Aug 2009)
Log Message:
-----------
Removing dependencies of pr2_mechanism_controllers
Modified Paths:
--------------
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/manifest.xml
pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/controller_manifest.cpp
pkg/trunk/sandbox/experimental_controllers/CMakeLists.txt
pkg/trunk/sandbox/experimental_controllers/manifest.xml
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_controller.h 2009-08-21 22:49:14 UTC (rev 22607)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_controller.h 2009-08-21 22:49:14 UTC (rev 22608)
@@ -48,7 +48,6 @@
#include "mechanism_model/robot.h"
#include "control_toolbox/pid.h"
#include "robot_mechanism_controllers/joint_velocity_controller.h"
-#include "misc_utils/subscription_guard.h"
#include "std_msgs/Float64.h"
namespace controller {
@@ -84,35 +83,6 @@
JointVelocityController caster_vel_, wheel_l_vel_, wheel_r_vel_;
};
-
-/*
- * Listens on /name/steer_velocity and /name/drive_velocity
- */
-
-class CasterControllerNode : public Controller
-{
-public:
- CasterControllerNode();
- ~CasterControllerNode();
-
- bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
-
- void update();
-
- void setSteerVelocity() {
- c_.steer_velocity_ = steer_velocity_msg_.data;
- }
- void setDriveVelocity() {
- c_.drive_velocity_ = drive_velocity_msg_.data;
- }
-
-private:
- CasterController c_;
-
- SubscriptionGuard guard_steer_velocity_, guard_drive_velocity_;
- std_msgs::Float64 steer_velocity_msg_, drive_velocity_msg_;
-};
-
}
#endif
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/manifest.xml
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/manifest.xml 2009-08-21 22:49:14 UTC (rev 22607)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/manifest.xml 2009-08-21 22:49:14 UTC (rev 22608)
@@ -5,31 +5,35 @@
<author>Sachin Chita, John Hsu, David Li, Jimmy Sastra, Melonee Wise</author>
<license>BSD</license>
<review status="unreviewed" notes=""/>
+
+ <!-- ROS Interfaces -->
+ <depend package="std_msgs" />
+ <depend package="geometry_msgs" />
+ <depend package="mechanism_msgs" />
+ <depend package="nav_msgs" />
+ <depend package="pr2_msgs" />
+ <depend package="visualization_msgs" />
+ <depend package="diagnostic_msgs" />
+
+ <!-- Plugins -->
+ <depend package="controller_interface" />
+
<depend package="roscpp" />
- <depend package="controller_interface" />
<depend package="mechanism_model" />
<depend package="wg_robot_description_parser" />
- <depend package="misc_utils" />
<depend package="realtime_tools" />
<depend package="robot_mechanism_controllers" />
<depend package="rospy" />
- <depend package="std_msgs" />
<depend package="pluginlib" />
- <depend package="mechanism_msgs" />
- <depend package="nav_msgs" />
- <depend package="pr2_msgs" />
- <depend package="visualization_msgs" />
<depend package="robot_actions" />
<depend package="rosconsole" />
<depend package="trajectory" />
<depend package="angles" />
<depend package="control_toolbox" />
<depend package="filters" />
- <depend package="geometry_msgs" />
- <depend package="manipulation_msgs" />
<depend package="diagnostic_updater" />
- <depend package="diagnostic_msgs" />
<depend package="mechanism_control" />
+
<url>http://pr.willowgarage.com</url>
<repository>http://pr.willowgarage.com/repos</repository>
<export>
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_controller.cpp 2009-08-21 22:49:14 UTC (rev 22607)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_controller.cpp 2009-08-21 22:49:14 UTC (rev 22608)
@@ -196,48 +196,4 @@
wheel_r_vel_.update();
}
-
-
-ROS_REGISTER_CONTROLLER(CasterControllerNode);
-
-CasterControllerNode::CasterControllerNode()
-{
}
-
-CasterControllerNode::~CasterControllerNode()
-{
-}
-
-bool CasterControllerNode::initXml(mechanism::RobotState *robot, TiXmlElement *config)
-{
- ros::Node *node = ros::Node::instance();
- assert(node);
-
- std::string name = config->Attribute("name") ? config->Attribute("name") : "";
- if (name == "")
- {
- fprintf(stderr, "Error: No name given for CasterControllerNode\n");
- return false;
- }
-
- if (!c_.initXml(robot, config))
- return false;
-
- node->subscribe(name + "/steer_velocity", steer_velocity_msg_,
- &CasterControllerNode::setSteerVelocity, this, 2);
- guard_steer_velocity_.set(name + "/steer_velocity");
- node->subscribe(name + "/drive_velocity", drive_velocity_msg_,
- &CasterControllerNode::setDriveVelocity, this, 2);
- guard_drive_velocity_.set(name + "/drive_velocity");
-
- return true;
-}
-
-void CasterControllerNode::update()
-{
- if (!c_.caster_->calibrated_)
- return;
- c_.update();
-}
-
-}
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/controller_manifest.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/controller_manifest.cpp 2009-08-21 22:49:14 UTC (rev 22607)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/controller_manifest.cpp 2009-08-21 22:49:14 UTC (rev 22608)
@@ -46,7 +46,6 @@
PLUGINLIB_REGISTER_CLASS(CasterCalibrationController, CasterCalibrationController, Controller)
PLUGINLIB_REGISTER_CLASS(CasterController, CasterController, Controller)
-PLUGINLIB_REGISTER_CLASS(CasterControllerNode, CasterControllerNode, Controller)
PLUGINLIB_REGISTER_CLASS(GripperCalibrationController, GripperCalibrationController, Controller)
PLUGINLIB_REGISTER_CLASS(GripperCalibrationControllerNode, GripperCalibrationControllerNode, Controller)
PLUGINLIB_REGISTER_CLASS(HeadPositionController, HeadPositionController, Controller)
Modified: pkg/trunk/sandbox/experimental_controllers/CMakeLists.txt
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/CMakeLists.txt 2009-08-21 22:49:14 UTC (rev 22607)
+++ pkg/trunk/sandbox/experimental_controllers/CMakeLists.txt 2009-08-21 22:49:14 UTC (rev 22608)
@@ -54,3 +54,5 @@
rospack_add_executable(test_trajectory_controller test/test_trajectory_srv.cpp)
target_link_libraries(test_trajectory_controller experimental_controllers)
+
+rospack_add_executable(base_trajectory_controller src/base_trajectory_controller.cpp)
Modified: pkg/trunk/sandbox/experimental_controllers/manifest.xml
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/manifest.xml 2009-08-21 22:49:14 UTC (rev 22607)
+++ pkg/trunk/sandbox/experimental_controllers/manifest.xml 2009-08-21 22:49:14 UTC (rev 22608)
@@ -33,6 +33,7 @@
<depend package="robot_mechanism_controllers" />
<depend package="pr2_mechanism_controllers" />
<depend package="geometry_msgs" />
+ <depend package="pr2_robot_actions" />
<export>
<cpp cflags="-I${prefix}/include -I${prefix}/msg/cpp -I${prefix}/srv/cpp"
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