[Personalrobots-commit] SF.net SVN: personalrobots:[22624] pkg/trunk/sandbox/texas

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

Revision: 22624
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=22624&view=rev
Author:   wattsk
Date:     2009-08-21 23:43:18 +0000 (Fri, 21 Aug 2009)

Log Message:
-----------
Dallas-bot drives!!

Modified Paths:
--------------
    pkg/trunk/sandbox/texas/dallas.yaml
    pkg/trunk/sandbox/texas/drive.launch
    pkg/trunk/sandbox/texas/texas.xml

Modified: pkg/trunk/sandbox/texas/dallas.yaml
===================================================================
--- pkg/trunk/sandbox/texas/dallas.yaml	2009-08-21 23:37:56 UTC (rev 22623)
+++ pkg/trunk/sandbox/texas/dallas.yaml	2009-08-21 23:43:18 UTC (rev 22624)
@@ -8,6 +8,6 @@
  caster_pid:
    p: 3
  wheel_pid:
-   p: 5
+   p: 2
 
 

Modified: pkg/trunk/sandbox/texas/drive.launch
===================================================================
--- pkg/trunk/sandbox/texas/drive.launch	2009-08-21 23:37:56 UTC (rev 22623)
+++ pkg/trunk/sandbox/texas/drive.launch	2009-08-21 23:43:18 UTC (rev 22624)
@@ -1,4 +1,17 @@
 <launch>
+
+  <rosparam command="load" file="$(find texas)/dallas.yaml" />
+  <node pkg="mechanism_control" type="spawner.py" args="dallas_controller" />
+
+  <param name="walk_vel" value="0.20" />
+  <param name="run_vel" value="0.5" />
+  <param name="yaw_rate" value="0.3" />
+  <param name="yaw_run_rate" value="1.5" />
+  <node pkg="teleop_pr2" type="teleop_pr2_keyboard" output="screen">
+    <remap from="cmd_vel" to="/dallas_controller/cmd_vel" />
+  </node>
+  
+  <!--
 <rosparam command="load" file="$(find texas)/caster.yaml" />
 <node pkg="mechanism_control" type="spawner.py" args="caster_bl" />
 
@@ -7,5 +20,6 @@
 <node pkg="texas" type="teleop_texas_keyboard" output="screen" >
   <param name="max_vel" type="double" value="6.0" />
 </node>
+-->
 
 </launch>

Modified: pkg/trunk/sandbox/texas/texas.xml
===================================================================
--- pkg/trunk/sandbox/texas/texas.xml	2009-08-21 23:37:56 UTC (rev 22623)
+++ pkg/trunk/sandbox/texas/texas.xml	2009-08-21 23:43:18 UTC (rev 22624)
@@ -2,7 +2,7 @@
   <include filename="$(find pr2_defs)/calibration/default_cal.xml" />
   <include filename="$(find pr2_defs)/defs/alpha2_base_defs.xml" />
 
-<pr2_caster_alpha2 suffix="bl" parent="base_link" ref_position="0">
+<pr2_caster_alpha2 suffix="bl" parent="base_link" ref_position="-0.785">
       <origin xyz="0 0 0" rpy="0 0 0" />
 </pr2_caster_alpha2>
 


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