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[Personalrobots-commit] SF.net SVN: personalrobots:[22734] pkg/trunk/stacks/pr2/pr2_alpha
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From: <wg_...@us...> - 2009-08-24 19:16:38
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Revision: 22734
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=22734&view=rev
Author: wg_cmeyers
Date: 2009-08-24 19:16:32 +0000 (Mon, 24 Aug 2009)
Log Message:
-----------
Update launch file to pass new parameters to the battery server, also
start new power monitor node.
Modified Paths:
--------------
pkg/trunk/stacks/pr2/pr2_alpha/pre.launch
pkg/trunk/stacks/pr2/pr2_alpha/pre.people.launch
pkg/trunk/stacks/pr2/pr2_alpha/prf.launch
pkg/trunk/stacks/pr2/pr2_alpha/prf_manip.launch
pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
pkg/trunk/stacks/pr2/pr2_alpha/prg.people.launch
Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre.launch 2009-08-24 19:14:43 UTC (rev 22733)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre.launch 2009-08-24 19:16:32 UTC (rev 22734)
@@ -23,8 +23,18 @@
</node>
<!-- Battery Monitor -->
- <node machine="two" pkg="ocean_battery_driver" type="monitor" respawn="true"/>
+ <node machine="two" pkg="ocean_battery_driver" type="ocean_server" respawn="true">
+ <param name="number_of_ports" type="int" value="4" />
+ <param name="port0" type="string" value="/dev/ttyUSB0" />
+ <param name="port1" type="string" value="/dev/ttyUSB1" />
+ <param name="port2" type="string" value="/dev/ttyUSB2" />
+ <param name="port3" type="string" value="/dev/ttyUSB3" />
+ <param name="debug_level" type="int" value="0" />
+ </node>
+ <node pkg="power_monitor" type="power_monitor" respawn="true"/>
+
+
<!-- Base Laser -->
<node machine="two" pkg="hokuyo_node" type="hokuyo_node" name="base_hokuyo_node" args="scan:=base_scan">
<param name="port" type="string" value="/dev/ttyACM0" />
Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre.people.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre.people.launch 2009-08-24 19:14:43 UTC (rev 22733)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre.people.launch 2009-08-24 19:16:32 UTC (rev 22734)
@@ -11,7 +11,17 @@
<node pkg="pr2_power_board" type="power_node" respawn="true"/>
<!-- Battery Monitor -->
- <node machine="two" pkg="ocean_battery_driver" type="monitor" respawn="true"/>
+ <node machine="two" pkg="ocean_battery_driver" type="ocean_server" respawn="true">
+ <param name="number_of_ports" type="int" value="4" />
+ <param name="port0" type="string" value="/dev/ttyUSB0" />
+ <param name="port1" type="string" value="/dev/ttyUSB1" />
+ <param name="port2" type="string" value="/dev/ttyUSB2" />
+ <param name="port3" type="string" value="/dev/ttyUSB3" />
+ <param name="debug_level" type="int" value="0" />
+ </node>
+
+ <node pkg="power_monitor" type="power_monitor" respawn="true"/>
+
<!-- Battery Assertions -->
<include file="$(find ocean_battery_driver)/expected_batteries.launch"/>
Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf.launch 2009-08-24 19:14:43 UTC (rev 22733)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf.launch 2009-08-24 19:16:32 UTC (rev 22734)
@@ -18,8 +18,18 @@
</node>
<!-- Battery Monitor -->
- <node machine="two" pkg="ocean_battery_driver" type="monitor" respawn="true"/>
+ <node machine="two" pkg="ocean_battery_driver" type="ocean_server" respawn="true">
+ <param name="number_of_ports" type="int" value="4" />
+ <param name="port0" type="string" value="/dev/ttyUSB0" />
+ <param name="port1" type="string" value="/dev/ttyUSB1" />
+ <param name="port2" type="string" value="/dev/ttyUSB2" />
+ <param name="port3" type="string" value="/dev/ttyUSB3" />
+ <param name="debug_level" type="int" value="0" />
+ </node>
+ <node pkg="power_monitor" type="power_monitor" respawn="true"/>
+
+
<!-- Base Laser -->
<node machine="two" pkg="hokuyo_node" type="hokuyo_node" name="base_hokuyo_node" args="scan:=base_scan">
<param name="port" type="string" value="/dev/ttyACM0" />
Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf_manip.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf_manip.launch 2009-08-24 19:14:43 UTC (rev 22733)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf_manip.launch 2009-08-24 19:16:32 UTC (rev 22734)
@@ -20,8 +20,18 @@
<node pkg="pr2_power_board" type="power_node" respawn="true"/>
<!-- Battery Monitor -->
- <node machine="two" pkg="ocean_battery_driver" type="monitor" respawn="true"/>
+ <node machine="two" pkg="ocean_battery_driver" type="ocean_server" respawn="true">
+ <param name="number_of_ports" type="int" value="4" />
+ <param name="port0" type="string" value="/dev/ttyUSB0" />
+ <param name="port1" type="string" value="/dev/ttyUSB1" />
+ <param name="port2" type="string" value="/dev/ttyUSB2" />
+ <param name="port3" type="string" value="/dev/ttyUSB3" />
+ <param name="debug_level" type="int" value="0" />
+ </node>
+ <node pkg="power_monitor" type="power_monitor" respawn="true"/>
+
+
<!-- Base Laser -->
<node machine="two" pkg="hokuyo_node" type="hokuyo_node" name="base_hokuyo_node" args="scan:=base_scan">
<param name="port" type="string" value="/dev/ttyACM0" />
Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg.launch 2009-08-24 19:14:43 UTC (rev 22733)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg.launch 2009-08-24 19:16:32 UTC (rev 22734)
@@ -18,8 +18,18 @@
</node>
<!-- Battery Monitor -->
- <node machine="two" pkg="ocean_battery_driver" type="monitor" respawn="false"/>
+ <node machine="two" pkg="ocean_battery_driver" type="ocean_server" respawn="true">
+ <param name="number_of_ports" type="int" value="4" />
+ <param name="port0" type="string" value="/dev/ttyUSB0" />
+ <param name="port1" type="string" value="/dev/ttyUSB1" />
+ <param name="port2" type="string" value="/dev/ttyUSB2" />
+ <param name="port3" type="string" value="/dev/ttyUSB3" />
+ <param name="debug_level" type="int" value="0" />
+ </node>
+ <node pkg="power_monitor" type="power_monitor" respawn="true"/>
+
+
<!-- Base Laser -->
<node machine="two" pkg="hokuyo_node" type="hokuyo_node" name="base_hokuyo_node" args="scan:=base_scan">
<param name="port" type="string" value="/dev/ttyACM0" />
Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg.people.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg.people.launch 2009-08-24 19:14:43 UTC (rev 22733)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg.people.launch 2009-08-24 19:16:32 UTC (rev 22734)
@@ -11,7 +11,17 @@
<node pkg="pr2_power_board" type="power_node" respawn="true"/>
<!-- Battery Monitor -->
- <node machine="two" pkg="ocean_battery_driver" type="monitor" respawn="true"/>
+ <node machine="two" pkg="ocean_battery_driver" type="ocean_server" respawn="true">
+ <param name="number_of_ports" type="int" value="4" />
+ <param name="port0" type="string" value="/dev/ttyUSB0" />
+ <param name="port1" type="string" value="/dev/ttyUSB1" />
+ <param name="port2" type="string" value="/dev/ttyUSB2" />
+ <param name="port3" type="string" value="/dev/ttyUSB3" />
+ <param name="debug_level" type="int" value="0" />
+ </node>
+
+ <node pkg="power_monitor" type="power_monitor" respawn="true"/>
+
<!-- Battery Assertions -->
<include file="$(find ocean_battery_driver)/expected_batteries.launch"/>
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