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[Personalrobots-commit] SF.net SVN: personalrobots:[23017] pkg/trunk/sandbox/person_data
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From: <goo...@us...> - 2009-08-26 20:23:38
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Revision: 23017
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23017&view=rev
Author: goodfellow
Date: 2009-08-26 20:23:30 +0000 (Wed, 26 Aug 2009)
Log Message:
-----------
Modified Paths:
--------------
pkg/trunk/sandbox/person_data/config/controllers.xml
pkg/trunk/sandbox/person_data/manifest.xml
pkg/trunk/sandbox/person_data/src/headhack.cpp
pkg/trunk/sandbox/person_data/src/joylistener.cpp
Added Paths:
-----------
pkg/trunk/sandbox/person_data/calibration_components/
pkg/trunk/sandbox/person_data/calibration_components/person_calibrate.launch
pkg/trunk/sandbox/person_data/common/
pkg/trunk/sandbox/person_data/common/checkrobot.py
pkg/trunk/sandbox/person_data/config/headpan.txt
pkg/trunk/sandbox/person_data/config/headtilt.txt
pkg/trunk/sandbox/person_data/data_collector_components/
pkg/trunk/sandbox/person_data/data_collector_components/2dnav_pr2.launch
pkg/trunk/sandbox/person_data/data_collector_components/base_odom.xml
pkg/trunk/sandbox/person_data/data_collector_components/data_collector_record.launch
pkg/trunk/sandbox/person_data/data_collector_components/data_collector_record_dummy.launch
pkg/trunk/sandbox/person_data/data_collector_components/person_data.launch
pkg/trunk/sandbox/person_data/data_collector_components/person_data_dummy.launch
pkg/trunk/sandbox/person_data/data_collector_components/startRecording.launch
pkg/trunk/sandbox/person_data/data_collector_components/startRecording.sh
pkg/trunk/sandbox/person_data/data_collector_components/startRecordingDummy.launch
pkg/trunk/sandbox/person_data/data_collector_components/startRecordingDummy.sh
pkg/trunk/sandbox/person_data/data_collector_components/stopRecording.launch
pkg/trunk/sandbox/person_data/data_collector_components/stopRecording.sh
pkg/trunk/sandbox/person_data/data_collector_components/stopRecordingDummy.launch
pkg/trunk/sandbox/person_data/data_collector_components/stopRecordingDummy.sh
pkg/trunk/sandbox/person_data/data_collector_components/teleop_joystick.launch
pkg/trunk/sandbox/person_data/data_collector_components/truly_passive.launch
pkg/trunk/sandbox/person_data/prf_person.launch
pkg/trunk/sandbox/person_data/scripts/calibrate.sh
pkg/trunk/sandbox/person_data/scripts/collect_data.sh
pkg/trunk/sandbox/person_data/scripts/collect_data_dummy.sh
Removed Paths:
-------------
pkg/trunk/sandbox/person_data/checkrobot.py
pkg/trunk/sandbox/person_data/data_collector_record.launch
pkg/trunk/sandbox/person_data/data_collector_record_dummy.launch
pkg/trunk/sandbox/person_data/headpan.txt
pkg/trunk/sandbox/person_data/headtilt.txt
pkg/trunk/sandbox/person_data/joylistener_dummy.cpp
pkg/trunk/sandbox/person_data/launch_dummy.sh
pkg/trunk/sandbox/person_data/person_data.launch
pkg/trunk/sandbox/person_data/person_data_dummy.launch
pkg/trunk/sandbox/person_data/prf.launch
pkg/trunk/sandbox/person_data/scripts/launch.sh
pkg/trunk/sandbox/person_data/startRecording.launch
pkg/trunk/sandbox/person_data/startRecording.sh
pkg/trunk/sandbox/person_data/startRecordingDummy.launch
pkg/trunk/sandbox/person_data/startRecordingDummy.sh
pkg/trunk/sandbox/person_data/stopRecording.launch
pkg/trunk/sandbox/person_data/stopRecording.sh
pkg/trunk/sandbox/person_data/stopRecordingDummy.launch
pkg/trunk/sandbox/person_data/stopRecordingDummy.sh
pkg/trunk/sandbox/person_data/teleop_joystick.launch
pkg/trunk/sandbox/person_data/test.launch
pkg/trunk/sandbox/person_data/test.py
pkg/trunk/sandbox/person_data/truly_passive.launch
Added: pkg/trunk/sandbox/person_data/calibration_components/person_calibrate.launch
===================================================================
--- pkg/trunk/sandbox/person_data/calibration_components/person_calibrate.launch (rev 0)
+++ pkg/trunk/sandbox/person_data/calibration_components/person_calibrate.launch 2009-08-26 20:23:30 UTC (rev 23017)
@@ -0,0 +1,11 @@
+<launch>
+<node pkg="person_data" type="joylistener" output="screen"/>
+<node pkg ="person_data" type="headhack" output="screen" />
+<node pkg ="pr2_default_controllers" type="tuckarm.py" args="r" output="screen" />
+<!-- for some reason putting joylistener after the other launch files broke it,
+and putting headhack after them makes roslaunch not find it! -->
+<!-- node pkg="pr2_default_controllers" type="tuckarm.py" args="r" -->
+<include file="$(find person_data)/data_collector_components/data_collector_record.launch" />
+<include file="$(find person_data)/data_collector_components/truly_passive.launch" />
+<include file="$(find person_data)/data_collector_components/teleop_joystick.launch" />
+</launch>
Property changes on: pkg/trunk/sandbox/person_data/calibration_components/person_calibrate.launch
___________________________________________________________________
Added: svn:mergeinfo
+
Deleted: pkg/trunk/sandbox/person_data/checkrobot.py
===================================================================
--- pkg/trunk/sandbox/person_data/checkrobot.py 2009-08-26 20:18:13 UTC (rev 23016)
+++ pkg/trunk/sandbox/person_data/checkrobot.py 2009-08-26 20:23:30 UTC (rev 23017)
@@ -1,16 +0,0 @@
-#Author: Ian Goodfellow
-#Pass it the ROBOT environment variable to see if it is OK
-
-import sys
-
-if len(sys.argv) != 2:
- for i in range(0,1000):
- print "Your ROBOT variable is not set"
- quit(-1)
-
-if sys.argv[1] != "prf" and sys.argv[1] != "prg":
- for i in range(0,1000):
- print "Your ROBOT variable is not set"
- quit(-1)
-
-quit(0)
Copied: pkg/trunk/sandbox/person_data/common/checkrobot.py (from rev 22692, pkg/trunk/sandbox/person_data/checkrobot.py)
===================================================================
--- pkg/trunk/sandbox/person_data/common/checkrobot.py (rev 0)
+++ pkg/trunk/sandbox/person_data/common/checkrobot.py 2009-08-26 20:23:30 UTC (rev 23017)
@@ -0,0 +1,17 @@
+#Author: Ian Goodfellow
+#Pass it the ROBOT environment variable to see if it is OK
+#TODO-- find out some way of bringing down the whole launch file
+
+import sys
+
+if len(sys.argv) != 2:
+ for i in range(0,1000):
+ print "Your ROBOT variable is not set"
+ quit(-1)
+
+if sys.argv[1] != "prf" and sys.argv[1] != "prg":
+ for i in range(0,1000):
+ print "Your ROBOT variable is not set"
+ quit(-1)
+
+quit(0)
Property changes on: pkg/trunk/sandbox/person_data/common/checkrobot.py
___________________________________________________________________
Added: svn:mergeinfo
+
Modified: pkg/trunk/sandbox/person_data/config/controllers.xml
===================================================================
--- pkg/trunk/sandbox/person_data/config/controllers.xml 2009-08-26 20:18:13 UTC (rev 23016)
+++ pkg/trunk/sandbox/person_data/config/controllers.xml 2009-08-26 20:23:30 UTC (rev 23017)
@@ -1,5 +1,7 @@
<launch>
+<!-- deleted stuff between lines 30 and 65 that pertained to r_arm, r_shoulder, etc. -->
+
<!-- action interface to switch controllers -->
<node pkg="mechanism_control" type="action_runner" output="screen" />
@@ -29,198 +31,13 @@
<node pkg="mechanism_control" type="spawner.py" args="--stopped $(find pr2_default_controllers)/r_gripper_position_controller.xml" />
<!-- Joint Trajectory controller -->
- <group ns="r_arm_joint_trajectory_controller" clear_params="true">
- <param name="velocity_scaling_factor" value="0.50" type="double" />
- <param name="trajectory_wait_timeout" value="10.0" type="double" />
-
- <param name="r_shoulder_pan_joint/goal_reached_threshold" value="0.25" type="double" />
- <param name="r_shoulder_lift_joint/goal_reached_threshold" value="0.25" type="double" />
- <param name="r_upper_arm_roll_joint/goal_reached_threshold" value="0.25" type="double" />
- <param name="r_elbow_flex_joint/goal_reached_threshold" value="0.25" type="double" />
- <param name="r_forearm_roll_joint/goal_reached_threshold" value="0.25" type="double" />
- <param name="r_wrist_flex_joint/goal_reached_threshold" value="0.25" type="double" />
- <param name="r_wrist_roll_joint/goal_reached_threshold" value="0.25" type="double" />
- </group>
- <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/r_arm_joint_trajectory_controller.xml" />
+ <node pkg="mechanism_control" type="spawner.py" args="--stopped $(find pr2_default_controllers)/r_arm_constraint_cartesian_wrench_controller.xml $(find pr2_default_controllers)/r_arm_constraint_cartesian_twist_controller.xml $(find pr2_default_controllers)/r_arm_constraint_cartesian_pose_controller.xml $(find pr2_default_controllers)/r_arm_constraint_cartesian_trajectory_controller.xml $(find pr2_default_controllers)/r_arm_cartesian_tff_controller.xml" output="screen" />
-<!-- Cartesian wrench controller -->
- <group ns="r_arm_cartesian_wrench_controller" clear_params="true">
- <param name="root_name" type="string" value="torso_lift_link" />
- <param name="tip_name" type="string" value="r_gripper_tool_frame" />
- </group>
-<!-- Constraint Cartesian wrench controller -->
- <group ns="r_arm_constraint_cartesian_wrench_controller" clear_params="true">
- <param name="root_name" type="string" value="torso_lift_link" />
- <param name="tip_name" type="string" value="r_gripper_tool_frame" />
- <param name="constraint/joint" type="int" value="0" />
- <param name="constraint/low_limit" type="double" value="-0.15" />
- <param name="constraint/high_limit" type="double" value="-0.35" />
- <param name="constraint/stiffness" type="double" value="30.0" />
- </group>
+ <node pkg="mechanism_control" type="spawner.py" args="--stopped $(find pr2_default_controllers)/r_arm_cartesian_wrench_controller.xml $(find pr2_default_controllers)/r_arm_cartesian_twist_controller.xml $(find pr2_default_controllers)/r_arm_cartesian_pose_controller.xml $(find pr2_default_controllers)/r_arm_cartesian_trajectory_controller.xml" output="screen" />
-<!-- Cartesian twist controller -->
- <group ns="r_arm_cartesian_twist_controller" clear_params="true">
- <param name="root_name" type="string" value="torso_lift_link" />
- <param name="tip_name" type="string" value="r_gripper_tool_frame" />
- <param name="output" type="string" value="r_arm_cartesian_wrench_controller" />
- <param name="ff_trans" value="0.0" />
- <param name="ff_rot" value="0.0" />
- <param name="fb_trans/p" value="20.0" />
- <param name="fb_trans/i" value="0.5" />
- <param name="fb_trans/d" value="0.0" />
- <param name="fb_trans/i_clamp" value="1.0" />
+ <node pkg="mechanism_control" type="spawner.py" args="--stopped $(find plug_in)/integration/r_arm_hybrid_controller.xml" />
- <param name="fb_rot/p" value="0.5" /> <param name="fb_rot/i" value="0.1" />
- <param name="fb_rot/d" value="0.0" />
- <param name="fb_rot/i_clamp" value="0.2" />
- </group>
-
-<!-- Constraint Cartesian twist controller -->
- <group ns="r_arm_constraint_cartesian_twist_controller" clear_params="true">
- <param name="root_name" type="string" value="torso_lift_link" />
- <param name="tip_name" type="string" value="r_gripper_tool_frame" />
- <param name="output" type="string" value="r_arm_constraint_cartesian_wrench_controller" />
-
- <param name="ff_trans" value="0.0" />
- <param name="ff_rot" value="0.0" />
-
- <param name="fb_trans/p" value="20.0" />
- <param name="fb_trans/i" value="0.5" />
- <param name="fb_trans/d" value="0.0" />
- <param name="fb_trans/i_clamp" value="1.0" />
-
- <param name="fb_rot/p" value="0.5" /> <param name="fb_rot/i" value="0.1" />
- <param name="fb_rot/d" value="0.0" />
- <param name="fb_rot/i_clamp" value="0.2" />
- </group>
-
-<!-- Cartesian pose controller -->
- <group ns="r_arm_cartesian_pose_controller" clear_params="true">
- <param name="root_name" type="string" value="torso_lift_link" />
- <param name="tip_name" type="string" value="r_gripper_tool_frame" />
- <param name="output" type="string" value="r_arm_cartesian_twist_controller" />
-
- <param name="p" value="20.0" />
- <param name="i" value="0.1" />
- <param name="d" value="0.0" />
- <param name="i_clamp" value="0.5" />
- </group>
-
-<!-- Constraint Cartesian pose controller -->
- <group ns="r_arm_constraint_cartesian_pose_controller" clear_params="true">
- <param name="root_name" type="string" value="torso_lift_link" />
- <param name="tip_name" type="string" value="r_gripper_tool_frame" />
- <param name="output" type="string" value="r_arm_constraint_cartesian_twist_controller" />
-
- <param name="p" value="20.0" />
- <param name="i" value="0.1" />
- <param name="d" value="0.0" />
- <param name="i_clamp" value="0.5" />
- </group>
-
-
-<!-- Cartesian trajectory controller -->
- <group ns="r_arm_cartesian_trajectory_controller" clear_params="true">
- <param name="root_name" type="string" value="torso_lift_link" />
- <param name="tip_name" type="string" value="r_gripper_tool_frame" />
- <param name="output" type="string" value="r_arm_cartesian_pose_controller" />
-
- <param name="max_vel_trans" value="0.15" />
- <param name="max_vel_rot" value="0.3" />
- <param name="max_acc_trans" value="0.4" />
- <param name="max_acc_rot" value="0.6" />
- </group>
-
-<!-- Cartesian constraint trajectory controller -->
- <group ns="r_arm_constraint_cartesian_trajectory_controller" clear_params="true">
- <param name="root_name" type="string" value="torso_lift_link" />
- <param name="tip_name" type="string" value="r_gripper_tool_frame" />
- <param name="output" type="string" value="r_arm_constraint_cartesian_pose_controller" />
-
- <param name="max_vel_trans" value="0.15" />
- <param name="max_vel_rot" value="0.3" />
- <param name="max_acc_trans" value="0.4" />
- <param name="max_acc_rot" value="0.6" />
- </group>
-
-
-<!-- Cartesian tff controller -->
- <group ns="r_arm_cartesian_tff_controller" clear_params="true">
- <param name="root_name" type="string" value="torso_lift_link" />
- <param name="tip_name" type="string" value="r_gripper_tool_frame" />
- <param name="output" type="string" value="r_arm_constraint_cartesian_wrench_controller" />
-
- <param name="twist_to_wrench_trans" value="10.0" />
- <param name="twist_to_wrench_rot" value="1.0" />
-
- <param name="vel_trans/p" value="2.0" />
- <param name="vel_trans/i" value="0.5" />
- <param name="vel_trans/d" value="0.0" />
- <param name="vel_trans/i_clamp" value="1.0" />
-
- <param name="vel_rot/p" value="0.3" />
- <param name="vel_rot/i" value="0.1" />
- <param name="vel_rot/d" value="0.0" />
- <param name="vel_rot/i_clamp" value="0.2" />
-
- <param name="pos_trans/p" value="10.0" />
- <param name="pos_trans/i" value="0.5" />
- <param name="pos_trans/d" value="0.0" />
- <param name="pos_trans/i_clamp" value="1.0" />
-
- <param name="pos_rot/p" value="0.5" />
- <param name="pos_rot/i" value="0.1" />
- <param name="pos_rot/d" value="0.0" />
- <param name="pos_rot/i_clamp" value="0.2" />
- </group>
-
-
- <node pkg="mechanism_control" type="spawner.py" args="--stopped $(find pr2_default_controllers)/r_arm_constraint_cartesian_wrench_controller.xml $(find pr2_default_controllers)/r_arm_constraint_cartesian_twist_controller.xml $(find pr2_default_controllers)/r_arm_constraint_cartesian_pose_controller.xml $(find pr2_default_controllers)/r_arm_constraint_cartesian_trajectory_controller.xml $(find pr2_default_controllers)/r_arm_cartesian_tff_controller.xml" output="screen" />
-
-
- <node pkg="mechanism_control" type="spawner.py" args="--stopped $(find pr2_default_controllers)/r_arm_cartesian_wrench_controller.xml $(find pr2_default_controllers)/r_arm_cartesian_twist_controller.xml $(find pr2_default_controllers)/r_arm_cartesian_pose_controller.xml $(find pr2_default_controllers)/r_arm_cartesian_trajectory_controller.xml" output="screen" />
-
-
-<!-- Cartesian Hybrid Controller -->
- <group ns="r_arm_hybrid_controller" clear_params="true">
- <param name="type" value="CartesianHybridControllerNode" />
- <param name="root_link" value="torso_lift_link" />
- <param name="tip_link" value="r_gripper_tool_frame" />
- <param name="initial_mode" value="3" />
- <group ns="pose">
- <group ns="fb_trans">
- <param name="p" value="400" />
- <param name="i" value="400" />
- <param name="d" value="15" />
- <param name="i_clamp" value="8" />
- </group>
- <group ns="fb_rot">
- <param name="p" value="15" />
- <param name="i" value="0" />
- <param name="d" value="1.2" />
- <param name="i_clamp" value="0" />
- </group>
- </group>
- <group ns="twist">
- <group ns="fb_trans">
- <param name="p" value="30" />
- <param name="i" value="0" />
- <param name="d" value="0" />
- <param name="i_clamp" value="0" />
- </group>
- <group ns="fb_rot">
- <param name="p" value="1.5" />
- <param name="i" value="0" />
- <param name="d" value="0" />
- <param name="i_clamp" value="0" />
- </group>
- </group>
- <param name="twist_filter" command="$(find plug_in)/make_lowpass.m twist_filter 0.1 " />
- <param name="saturated_velocity" value="-0.5" />
- </group>
- <node pkg="mechanism_control" type="spawner.py" args="--stopped $(find plug_in)/integration/r_arm_hybrid_controller.xml"/>
-
-</launch>
+ </launch>
Copied: pkg/trunk/sandbox/person_data/config/headpan.txt (from rev 22692, pkg/trunk/sandbox/person_data/headpan.txt)
===================================================================
--- pkg/trunk/sandbox/person_data/config/headpan.txt (rev 0)
+++ pkg/trunk/sandbox/person_data/config/headpan.txt 2009-08-26 20:23:30 UTC (rev 23017)
@@ -0,0 +1 @@
+0
Property changes on: pkg/trunk/sandbox/person_data/config/headpan.txt
___________________________________________________________________
Added: svn:mergeinfo
+
Copied: pkg/trunk/sandbox/person_data/config/headtilt.txt (from rev 22692, pkg/trunk/sandbox/person_data/headtilt.txt)
===================================================================
--- pkg/trunk/sandbox/person_data/config/headtilt.txt (rev 0)
+++ pkg/trunk/sandbox/person_data/config/headtilt.txt 2009-08-26 20:23:30 UTC (rev 23017)
@@ -0,0 +1 @@
+ 0
Property changes on: pkg/trunk/sandbox/person_data/config/headtilt.txt
___________________________________________________________________
Added: svn:mergeinfo
+
Copied: pkg/trunk/sandbox/person_data/data_collector_components/2dnav_pr2.launch (from rev 19500, pkg/trunk/demos/2dnav_pr2/move_base/2dnav_pr2.launch)
===================================================================
--- pkg/trunk/sandbox/person_data/data_collector_components/2dnav_pr2.launch (rev 0)
+++ pkg/trunk/sandbox/person_data/data_collector_components/2dnav_pr2.launch 2009-08-26 20:23:30 UTC (rev 23017)
@@ -0,0 +1,14 @@
+<launch>
+ <!-- This is a fork of 2dnav_pr2/move_base/2dnav_pr2.launch. It has been changed to include my own base_odom_teleop.xml. This is just so that it doesn't override my custom teleop -->
+ <group name="wg">
+ <include file="$(find pr2_alpha)/$(env ROBOT).machine" />
+ <include file="$(find 2dnav_pr2)/config/new_amcl_node.xml" />
+ <include file="$(find person_data)/data_collector_components/base_odom.xml" />
+ <include file="$(find 2dnav_pr2)/config/lasers_and_filters.xml" />
+ <include file="$(find 2dnav_pr2)/config/map_server.xml" />
+ <include file="$(find 2dnav_pr2)/config/ground_plane.xml" />
+
+ <!-- The naviagtion stack and associated parameters -->
+ <include file="$(find 2dnav_pr2)/move_base/move_base.xml" />
+ </group>
+</launch>
Property changes on: pkg/trunk/sandbox/person_data/data_collector_components/2dnav_pr2.launch
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/2dnav_pr2/move_base/2dnav_pr2.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/sandbox/person_data/data_collector_components/base_odom.xml (from rev 19500, pkg/trunk/demos/2dnav_pr2/config/base_odom_teleop.xml)
===================================================================
--- pkg/trunk/sandbox/person_data/data_collector_components/base_odom.xml (rev 0)
+++ pkg/trunk/sandbox/person_data/data_collector_components/base_odom.xml 2009-08-26 20:23:30 UTC (rev 23017)
@@ -0,0 +1,22 @@
+<launch>
+<!-- This is a fork of 2dnav_pr2/config/base_odom_teleop.xml. It has been modified to remove the teleop portion, so that it will not override the person_data teleop -->
+
+<param name="base_controller/autostart" value="true"/>
+<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" output="screen"/>
+
+<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/torso_lift_vel_controller.xml" output="screen" />
+
+<node pkg="backup_safetysound" type="backingup.py" machine="four" />
+
+<!-- The robot pose EKF is launched with the base controller-->
+<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
+ <param name="freq" value="30.0"/>
+ <param name="sensor_timeout" value="1.0"/>
+ <param name="publish_tf" value="true"/>
+ <param name="odom_used" value="true"/>
+ <param name="imu_used" value="true"/>
+ <param name="vo_used" value="false"/>
+</node>
+
+
+</launch>
Property changes on: pkg/trunk/sandbox/person_data/data_collector_components/base_odom.xml
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/demos/2dnav_pr2/config/base_odom_teleop.xml:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Copied: pkg/trunk/sandbox/person_data/data_collector_components/data_collector_record.launch (from rev 22692, pkg/trunk/sandbox/person_data/data_collector_record.launch)
===================================================================
--- pkg/trunk/sandbox/person_data/data_collector_components/data_collector_record.launch (rev 0)
+++ pkg/trunk/sandbox/person_data/data_collector_components/data_collector_record.launch 2009-08-26 20:23:30 UTC (rev 23017)
@@ -0,0 +1,24 @@
+<launch>
+ <include file="$(find pr2_alpha)/$(env ROBOT).machine" />
+
+ <node output="screen" pkg="topic_tools" type="mux" args="/wide_stereo/raw_stereo_muxed /wide_stereo/raw_stereo" machine="four"/>
+ <node output="screen" pkg="rosrecord" type="rosrecord" machine="four" args="-f /bags/person_data/wide_stereo_ /wide_stereo/raw_stereo_muxed"/>
+
+ <node output="screen" pkg="topic_tools" type="mux" args="/narrow_stereo/raw_stereo_muxed /narrow_stereo/raw_stereo" machine="three"/>
+ <node output="screen" pkg="rosrecord" type="rosrecord" machine="three" args="-f /bags/person_data/narrow_stereo_ /narrow_stereo/raw_stereo_muxed"/>
+
+<node output="screen" pkg="topic_tools" type="mux" args="/tf_message_muxed /tf_message" machine="two"/>
+<node output="screen" pkg="rosrecord" type="rosrecord" machine="two" args="-f /bags/person_data/tf_ /tf_message_muxed"/>
+
+ <node output="screen" pkg="topic_tools" type="mux" machine="two" args="/mechanism_state_muxed /mechanism_state"/>
+ <node output="screen" pkg="rosrecord" type="rosrecord" machine="two" args="-f /bags/person_data/mech_state /mechanism_state_muxed"/>
+
+ <node output="screen" pkg="topic_tools" type="mux" machine="two" args="/base_scan_muxed /base_scan"/>
+ <node output="screen" pkg="topic_tools" type="mux" machine="two" args="/tilt_scan_muxed /tilt_scan"/>
+ <node output="screen" pkg="topic_tools" type="mux" machine="two" args="/laser_tilt_controller/laser_scanner_signal_muxed /laser_tilt_controller/laser_scanner_signal"/>
+ <node output="screen" pkg="rosrecord" type="rosrecord" machine="two" args="-f /bags/person_data/laser_ /base_scan_muxed /tilt_scan_muxed /laser_tilt_controller/laser_scanner_signal"/>
+
+ <node output="screen" pkg="topic_tools" type="mux" machine="two" args="/odom_muxed /odom"/>
+ <node output="screen" pkg="rosrecord" type="rosrecord" machine="two" args="-f /bags/person_data/state_ /odom_muxed "/>
+
+</launch>
Property changes on: pkg/trunk/sandbox/person_data/data_collector_components/data_collector_record.launch
___________________________________________________________________
Added: svn:mergeinfo
+
Copied: pkg/trunk/sandbox/person_data/data_collector_components/data_collector_record_dummy.launch (from rev 22692, pkg/trunk/sandbox/person_data/data_collector_record_dummy.launch)
===================================================================
--- pkg/trunk/sandbox/person_data/data_collector_components/data_collector_record_dummy.launch (rev 0)
+++ pkg/trunk/sandbox/person_data/data_collector_components/data_collector_record_dummy.launch 2009-08-26 20:23:30 UTC (rev 23017)
@@ -0,0 +1,4 @@
+<launch>
+ <node pkg="topic_tools" type="mux" args="/person_dummy_data_muxed /person_dummy_data"/>
+ <node pkg="rosrecord" type="rosrecord" args="-f /tmp/person_data_dummy /person_dummy_data_muxed"/>
+</launch>
Property changes on: pkg/trunk/sandbox/person_data/data_collector_components/data_collector_record_dummy.launch
___________________________________________________________________
Added: svn:mergeinfo
+
Copied: pkg/trunk/sandbox/person_data/data_collector_components/person_data.launch (from rev 22692, pkg/trunk/sandbox/person_data/person_data.launch)
===================================================================
--- pkg/trunk/sandbox/person_data/data_collector_components/person_data.launch (rev 0)
+++ pkg/trunk/sandbox/person_data/data_collector_components/person_data.launch 2009-08-26 20:23:30 UTC (rev 23017)
@@ -0,0 +1,15 @@
+<launch>
+<node pkg="person_data" type="joylistener" output="screen"/>
+<node pkg ="person_data" type="headhack" output="screen" />
+<node pkg ="pr2_default_controllers" type="tuckarm.py" args="r" output="screen" />
+
+<include file="$(find person_data)/data_collector_components/2dnav_pr2.launch" />
+
+
+<!-- for some reason putting joylistener after the other launch files broke it,
+and putting headhack after them makes roslaunch not find it! -->
+<!-- node pkg="pr2_default_controllers" type="tuckarm.py" args="r" -->
+<include file="$(find person_data)/data_collector_components/data_collector_record.launch" />
+<!-- include file="$(find person_data)/data_collector_components/truly_passive.launch" -->
+<include file="$(find person_data)/data_collector_components/teleop_joystick.launch" />
+</launch>
Property changes on: pkg/trunk/sandbox/person_data/data_collector_components/person_data.launch
___________________________________________________________________
Added: svn:mergeinfo
+
Copied: pkg/trunk/sandbox/person_data/data_collector_components/person_data_dummy.launch (from rev 22692, pkg/trunk/sandbox/person_data/person_data_dummy.launch)
===================================================================
--- pkg/trunk/sandbox/person_data/data_collector_components/person_data_dummy.launch (rev 0)
+++ pkg/trunk/sandbox/person_data/data_collector_components/person_data_dummy.launch 2009-08-26 20:23:30 UTC (rev 23017)
@@ -0,0 +1,11 @@
+<launch>
+<!-- dummy version of person_data.launch for offline testing -->
+<node pkg="person_data" type="joylistener_dummy" output="screen"/>
+
+<!-- for some reason putting joylistener after the other launch files broke it,
+and putting headhack after them makes roslaunch not find it! -->
+
+<node pkg="person_data" type="named" args="/person_dummy_data"/>
+<include file="$(find person_data)/data_collector_record_dummy.launch" />
+
+</launch>
Copied: pkg/trunk/sandbox/person_data/data_collector_components/startRecording.launch (from rev 22692, pkg/trunk/sandbox/person_data/startRecording.launch)
===================================================================
--- pkg/trunk/sandbox/person_data/data_collector_components/startRecording.launch (rev 0)
+++ pkg/trunk/sandbox/person_data/data_collector_components/startRecording.launch 2009-08-26 20:23:30 UTC (rev 23017)
@@ -0,0 +1,11 @@
+<launch>
+<include file="$(find pr2_alpha)/$(env ROBOT).machine" />
+<node output="screen" pkg="topic_tools" type="switch_mux" args="/wide_stereo/raw_stereo_muxed /wide_stereo/raw_stereo" machine="four"/>
+<node output="screen" pkg="topic_tools" type="switch_mux" args="/narrow_stereo/raw_stereo_muxed /narrow_stereo/raw_stereo" machine="three"/>
+<node output="screen" pkg="topic_tools" type="switch_mux" args="/tf_message_muxed /tf_message" machine="two"/>
+<node output="screen" pkg="topic_tools" type="switch_mux" machine="two" args="/mechanism_state_muxed /mechanism_state"/>
+<node output="screen" pkg="topic_tools" type="switch_mux" machine="two" args="/base_scan_muxed /base_scan"/>
+<node output="screen" pkg="topic_tools" type="switch_mux" machine="two" args="/tilt_scan_muxed /tilt_scan"/>
+<node output="screen" pkg="topic_tools" type="switch_mux" machine="two" args="/laser_tilt_controller/laser_scanner_signal_muxed /laser_tilt_controller/laser_scanner_signal"/>
+<node output="screen" pkg="topic_tools" type="switch_mux" machine="two" args="/odom_muxed /odom"/>
+</launch>
Property changes on: pkg/trunk/sandbox/person_data/data_collector_components/startRecording.launch
___________________________________________________________________
Added: svn:mergeinfo
+
Copied: pkg/trunk/sandbox/person_data/data_collector_components/startRecording.sh (from rev 22692, pkg/trunk/sandbox/person_data/startRecording.sh)
===================================================================
--- pkg/trunk/sandbox/person_data/data_collector_components/startRecording.sh (rev 0)
+++ pkg/trunk/sandbox/person_data/data_collector_components/startRecording.sh 2009-08-26 20:23:30 UTC (rev 23017)
@@ -0,0 +1 @@
+roslaunch `rospack find person_data`/data_collector_components/startRecording.launch
Property changes on: pkg/trunk/sandbox/person_data/data_collector_components/startRecording.sh
___________________________________________________________________
Added: svn:mergeinfo
+
Copied: pkg/trunk/sandbox/person_data/data_collector_components/startRecordingDummy.launch (from rev 22692, pkg/trunk/sandbox/person_data/startRecordingDummy.launch)
===================================================================
--- pkg/trunk/sandbox/person_data/data_collector_components/startRecordingDummy.launch (rev 0)
+++ pkg/trunk/sandbox/person_data/data_collector_components/startRecordingDummy.launch 2009-08-26 20:23:30 UTC (rev 23017)
@@ -0,0 +1,3 @@
+<launch>
+<node pkg="topic_tools" type="switch_mux" args="/person_dummy_data_muxed /person_dummy_data"/>
+</launch>
Copied: pkg/trunk/sandbox/person_data/data_collector_components/startRecordingDummy.sh (from rev 22692, pkg/trunk/sandbox/person_data/startRecordingDummy.sh)
===================================================================
--- pkg/trunk/sandbox/person_data/data_collector_components/startRecordingDummy.sh (rev 0)
+++ pkg/trunk/sandbox/person_data/data_collector_components/startRecordingDummy.sh 2009-08-26 20:23:30 UTC (rev 23017)
@@ -0,0 +1 @@
+roslaunch `rospack find person_data`/data_collector_components/startRecordingDummy.launch
Copied: pkg/trunk/sandbox/person_data/data_collector_components/stopRecording.launch (from rev 22692, pkg/trunk/sandbox/person_data/stopRecording.launch)
===================================================================
--- pkg/trunk/sandbox/person_data/data_collector_components/stopRecording.launch (rev 0)
+++ pkg/trunk/sandbox/person_data/data_collector_components/stopRecording.launch 2009-08-26 20:23:30 UTC (rev 23017)
@@ -0,0 +1,11 @@
+<launch>
+<include file="$(find pr2_alpha)/$(env ROBOT).machine" />
+<node output="screen" pkg="topic_tools" type="switch_mux" args="/wide_stereo/raw_stereo_muxed __none" machine="four"/>
+<node output="screen" pkg="topic_tools" type="switch_mux" args="/narrow_stereo/raw_stereo_muxed __none" machine="three"/>
+<node output="screen" pkg="topic_tools" type="switch_mux" args="/tf_message_muxed __none" machine="two"/>
+<node output="screen" pkg="topic_tools" type="switch_mux" machine="two" args="/mechanism_state_muxed __none"/>
+<node output="screen" pkg="topic_tools" type="switch_mux" machine="two" args="/base_scan_muxed __none"/>
+<node output="screen" pkg="topic_tools" type="switch_mux" machine="two" args="/tilt_scan_muxed __none"/>
+<node output="screen" pkg="topic_tools" type="switch_mux" machine="two" args="/laser_tilt_controller/laser_scanner_signal_muxed __none"/>
+<node output="screen" pkg="topic_tools" type="switch_mux" machine="two" args="/odom_muxed __none"/>
+</launch>
Property changes on: pkg/trunk/sandbox/person_data/data_collector_components/stopRecording.launch
___________________________________________________________________
Added: svn:mergeinfo
+
Copied: pkg/trunk/sandbox/person_data/data_collector_components/stopRecording.sh (from rev 22692, pkg/trunk/sandbox/person_data/stopRecording.sh)
===================================================================
--- pkg/trunk/sandbox/person_data/data_collector_components/stopRecording.sh (rev 0)
+++ pkg/trunk/sandbox/person_data/data_collector_components/stopRecording.sh 2009-08-26 20:23:30 UTC (rev 23017)
@@ -0,0 +1 @@
+roslaunch `rospack find person_data`/data_collector_components/stopRecording.launch
Property changes on: pkg/trunk/sandbox/person_data/data_collector_components/stopRecording.sh
___________________________________________________________________
Added: svn:mergeinfo
+
Copied: pkg/trunk/sandbox/person_data/data_collector_components/stopRecordingDummy.launch (from rev 22692, pkg/trunk/sandbox/person_data/stopRecordingDummy.launch)
===================================================================
--- pkg/trunk/sandbox/person_data/data_collector_components/stopRecordingDummy.launch (rev 0)
+++ pkg/trunk/sandbox/person_data/data_collector_components/stopRecordingDummy.launch 2009-08-26 20:23:30 UTC (rev 23017)
@@ -0,0 +1,3 @@
+<launch>
+<node pkg="topic_tools" type="switch_mux" args="/person_dummy_data_muxed __none"/>
+</launch>
Copied: pkg/trunk/sandbox/person_data/data_collector_components/stopRecordingDummy.sh (from rev 22692, pkg/trunk/sandbox/person_data/stopRecordingDummy.sh)
===================================================================
--- pkg/trunk/sandbox/person_data/data_collector_components/stopRecordingDummy.sh (rev 0)
+++ pkg/trunk/sandbox/person_data/data_collector_components/stopRecordingDummy.sh 2009-08-26 20:23:30 UTC (rev 23017)
@@ -0,0 +1 @@
+roslaunch `rospack find person_data`/data_collector_components/stopRecordingDummy.launch
Copied: pkg/trunk/sandbox/person_data/data_collector_components/teleop_joystick.launch (from rev 22692, pkg/trunk/sandbox/person_data/teleop_joystick.launch)
===================================================================
--- pkg/trunk/sandbox/person_data/data_collector_components/teleop_joystick.launch (rev 0)
+++ pkg/trunk/sandbox/person_data/data_collector_components/teleop_joystick.launch 2009-08-26 20:23:30 UTC (rev 23017)
@@ -0,0 +1,49 @@
+<launch>
+<!-- this is a fork of pr2_alpha/teleop_joystick. this version only allows
+the operator to teleop the base -->
+
+<param name="base_controller/odom_publish_rate" value="30.0"/>
+<param name="base_controller/autostart" value="true"/>
+<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" output="screen"/>
+
+<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/torso_lift_vel_controller.xml" output="screen" />
+
+
+<include file="$(find pr2_default_controllers)/head_position_controller.launch" />
+
+
+<!-- The robot pose EKF is launched with the base controller-->
+<include file="$(find robot_pose_ekf)/robot_pose_ekf.launch" />
+
+ <group name="wg">
+<param name="axis_vx" value="3" type="int"/>
+<param name="axis_vy" value="2" type="int"/>
+<param name="axis_vw" value="0" type="int"/>
+<param name="axis_pan" value="0" type="int"/>
+<param name="axis_tilt" value="3" type="int"/>
+
+<param name="max_vw" value="0.8" />
+<param name="max_vx" value="0.5" />
+<param name="max_vy" value="0.5" />
+<param name="max_vw_run" value="1.4" />
+<param name="max_vx_run" value="1.0" />
+<param name="max_vy_run" value="1.0" />
+<param name="tilt_step" value="0.1" />
+<param name="pan_step" value="0.1" />
+
+
+<param name="run_button" value="5" type="int" />
+<param name="torso_dn_button" value="500" type="int" />
+<param name="torso_up_button" value="500" type="int" />
+<param name="head_button" value="500" type="int" />
+
+<param name="deadman_button" value="4" type="int"/>
+<node pkg="teleop_pr2" type="teleop_pr2" output="screen" >
+<remap from="/head_controller/command" to="/davy_jones"/>
+</node>
+
+ </group>
+
+
+</launch>
+
Property changes on: pkg/trunk/sandbox/person_data/data_collector_components/teleop_joystick.launch
___________________________________________________________________
Added: svn:mergeinfo
+
Copied: pkg/trunk/sandbox/person_data/data_collector_components/truly_passive.launch (from rev 22692, pkg/trunk/sandbox/person_data/truly_passive.launch)
===================================================================
--- pkg/trunk/sandbox/person_data/data_collector_components/truly_passive.launch (rev 0)
+++ pkg/trunk/sandbox/person_data/data_collector_components/truly_passive.launch 2009-08-26 20:23:30 UTC (rev 23017)
@@ -0,0 +1,34 @@
+<launch>
+ <include file="$(find pr2_alpha)/$(env ROBOT).machine" />
+
+<!-- controllers-->
+ <include file="$(find person_data)/config/controllers.xml" />
+
+<!-- perception-->
+ <include file="$(find person_data)/config/perception.xml" />
+
+
+<!-- Safety -->
+ <node machine="four" pkg="safety_core" type="run_detect_plug_on_base" output="screen" respawn="false" />
+ <!-- node machine="four" pkg="safety_core" type="run_tuck_arms" output="screen" respawn="true" -->
+
+
+
+
+<!-- Robot pose ekf -->
+ <node pkg="robot_pose_ekf" type="robot_pose_ekf" args="robot_pose_ekf" machine="four" name="robot_pose_ekf">
+ <param name="freq" value="30.0"/>
+ <param name="sensor_timeout" value="1.0"/>
+ <param name="odom_used" value="true"/>
+ <param name="imu_used" value="true"/>
+ <param name="vo_used" value="false"/>
+ </node>
+
+ <!-- node pkg="tf" machine="two" type="change_notifier"-->
+
+
+
+
+
+
+</launch>
Property changes on: pkg/trunk/sandbox/person_data/data_collector_components/truly_passive.launch
___________________________________________________________________
Added: svn:mergeinfo
+
Deleted: pkg/trunk/sandbox/person_data/data_collector_record.launch
===================================================================
--- pkg/trunk/sandbox/person_data/data_collector_record.launch 2009-08-26 20:18:13 UTC (rev 23016)
+++ pkg/trunk/sandbox/person_data/data_collector_record.launch 2009-08-26 20:23:30 UTC (rev 23017)
@@ -1,24 +0,0 @@
-<launch>
- <include file="$(find pr2_alpha)/$(env ROBOT).machine" />
-
- <node pkg="topic_tools" type="mux" args="/wide_stereo/raw_stereo_muxed /wide_stereo/raw_stereo" machine="four"/>
- <node pkg="rosrecord" type="rosrecord" machine="four" args="-f /bags/person_data/wide_stereo_ /wide_stereo/raw_stereo_muxed"/>
-
- <node pkg="topic_tools" type="mux" args="/narrow_stereo/raw_stereo_muxed /narrow_stereo/raw_stereo" machine="three"/>
- <node pkg="rosrecord" type="rosrecord" machine="three" args="-f /bags/person_data/narrow_stereo_ /narrow_stereo/raw_stereo_muxed"/>
-
-<node pkg="topic_tools" type="mux" args="/tf_message_muxed /tf_message" machine="two"/>
-<node pkg="rosrecord" type="rosrecord" machine="two" args="-f /bags/person_data/tf_ /tf_message_muxed"/>
-
- <node pkg="topic_tools" type="mux" machine="two" args="/mechanism_state_muxed /mechanism_state"/>
- <node pkg="rosrecord" type="rosrecord" machine="two" args="-f /bags/person_data/mech_state /mechanism_state_muxed"/>
-
- <node pkg="topic_tools" type="mux" machine="two" args="/base_scan_muxed /base_scan"/>
- <node pkg="topic_tools" type="mux" machine="two" args="/tilt_scan_muxed /tilt_scan"/>
- <node pkg="topic_tools" type="mux" machine="two" args="/laser_tilt_controller/laser_scanner_signal_muxed /laser_tilt_controller/laser_scanner_signal"/>
- <node pkg="rosrecord" type="rosrecord" machine="two" args="-f /bags/person_data/laser_ /base_scan_muxed /tilt_scan_muxed /laser_tilt_controller/laser_scanner_signal"/>
-
- <node pkg="topic_tools" type="mux" machine="two" args="/odom_muxed /odom"/>
- <node pkg="rosrecord" type="rosrecord" machine="two" args="-f /bags/person_data/state_ /odom_muxed "/>
-
-</launch>
Deleted: pkg/trunk/sandbox/person_data/data_collector_record_dummy.launch
===================================================================
--- pkg/trunk/sandbox/person_data/data_collector_record_dummy.launch 2009-08-26 20:18:13 UTC (rev 23016)
+++ pkg/trunk/sandbox/person_data/data_collector_record_dummy.launch 2009-08-26 20:23:30 UTC (rev 23017)
@@ -1,4 +0,0 @@
-<launch>
- <node pkg="topic_tools" type="mux" args="/person_dummy_data_muxed /person_dummy_data"/>
- <node pkg="rosrecord" type="rosrecord" args="-f /tmp/person_data_dummy /person_dummy_data_muxed"/>
-</launch>
Deleted: pkg/trunk/sandbox/person_data/headpan.txt
===================================================================
--- pkg/trunk/sandbox/person_data/headpan.txt 2009-08-26 20:18:13 UTC (rev 23016)
+++ pkg/trunk/sandbox/person_data/headpan.txt 2009-08-26 20:23:30 UTC (rev 23017)
@@ -1 +0,0 @@
-0
Deleted: pkg/trunk/sandbox/person_data/headtilt.txt
===================================================================
--- pkg/trunk/sandbox/person_data/headtilt.txt 2009-08-26 20:18:13 UTC (rev 23016)
+++ pkg/trunk/sandbox/person_data/headtilt.txt 2009-08-26 20:23:30 UTC (rev 23017)
@@ -1 +0,0 @@
- 0
Deleted: pkg/trunk/sandbox/person_data/joylistener_dummy.cpp
===================================================================
--- pkg/trunk/sandbox/person_data/joylistener_dummy.cpp 2009-08-26 20:18:13 UTC (rev 23016)
+++ pkg/trunk/sandbox/person_data/joylistener_dummy.cpp 2009-08-26 20:23:30 UTC (rev 23017)
@@ -1,122 +0,0 @@
-//Author: Ian Goodfellow
-//When deadman switch is not pressed and head switch is pressed,
-//button 0 stops recording and button 2 starts recording
-//Assumes that recording is started initially
-
-#include <ros/ros.h>
-#include <std_msgs/String.h>
-#include "joy/Joy.h"
-#include <string>
-
-const static int headButton = 6;
-const static int deadmanButton = 4;
-const static int recordButton = 2;
-const static int stopButton = 0;
-
-static bool recording = true;
-static bool headButtonPressed = false;
-static bool deadmanButtonPressed = false;
-
-ros::Publisher debug_pub;
-
-void IA3N_INFO(const char * msg)
-{
- //std_msgs::String rmsg;
- //rmsg.data = std::string(msg);
- //debug_pub.publish(rmsg);
- ROS_INFO(msg);
-}
-
-void startRecording()
-{
- FILE * result = popen("bash `rospack find person_data`/startRecording.sh","r");
- fclose(result);
- recording = true;
-}
-
-void stopRecording()
-{
- FILE * result = popen("bash `rospack find person_data`/stopRecording.sh","r");
- fclose(result);
- recording = false;
-}
-
-
-
-void joyCallback(const joy::Joy::ConstPtr & msg)
-{
- //IA3N_INFO("Received joystick message!");
-
- int n = msg->get_buttons_size();
-
- //messages are sized so that they are just long enough to include the last 1
-
-
- if (headButton < n && msg->buttons[headButton])
- {
- //IA3N_INFO("Head button pushed down");
- headButtonPressed = true;
- }
- else
- {
- //IA3N_INFO("Head button released");
- headButtonPressed = false;
- }
-
- if (deadmanButton < n && msg->buttons[deadmanButton])
- {
- //IA3N_INFO("Deadman button pushed down");
- deadmanButtonPressed = true;
- }
- else
- {
- //IA3N_INFO("Deadman button released");
- deadmanButtonPressed = false;
- }
-
-
- if (headButtonPressed && ! deadmanButtonPressed)
- {
- if (recordButton < n && msg->buttons[recordButton])
- {
- if (!recording)
- {
- IA3N_INFO("Restarted recording");
- startRecording();
- }
- else
- {
- IA3N_INFO("You are already recording!");
- }
- }
-
- if (stopButton < n && msg->buttons[stopButton])
- {
- if (recording)
- {
- IA3N_INFO("Stopped recording");
- stopRecording();
- }
- else
- {
- IA3N_INFO("You have already stopped recording");
- }
- }
- }
-
-
- //for ( int i = 0; i < n; i++)
- //{
- // if (msg->buttons[i])
- // IA3N_INFO("Button %d pressed",i);
- //}
-}
-
-int main(int argc, char ** argv)
-{
- ros::init(argc, argv, "joylistener");
- ros::NodeHandle n;
- debug_pub = n.advertise<std_msgs::String>("ia3n_debug",100);
- ros::Subscriber chatter_sub = n.subscribe("joy",100,joyCallback);
- ros::spin();
-}
Deleted: pkg/trunk/sandbox/person_data/launch_dummy.sh
===================================================================
--- pkg/trunk/sandbox/person_data/launch_dummy.sh 2009-08-26 20:18:13 UTC (rev 23016)
+++ pkg/trunk/sandbox/person_data/launch_dummy.sh 2009-08-26 20:23:30 UTC (rev 23017)
@@ -1,2 +0,0 @@
-#dummy version of launch.sh for offline testing
-namedlaunch person_data_dummy.launch
Modified: pkg/trunk/sandbox/person_data/manifest.xml
===================================================================
--- pkg/trunk/sandbox/person_data/manifest.xml 2009-08-26 20:18:13 UTC (rev 23016)
+++ pkg/trunk/sandbox/person_data/manifest.xml 2009-08-26 20:23:30 UTC (rev 23017)
@@ -2,7 +2,7 @@
<description brief="person_data">
Tools for collecting and managing data for the indoor person detection and tracking dataset
These include:
- scripts/launch.sh: runs data collection system on the robot
+ scripts/collect_data.sh: runs data collection system on the robot
scripts/chop_bag.py: converts a collection of bags into a series of contiguous scenes, cutting wherever recording was paused
scripts/plot_bags.py: plots when each topic was present in a collection of bags (this is helpful for checking that no sensors died)
stereo_playback.launch: A launch file that uses environment variables to play video from a bag file
@@ -17,7 +17,11 @@
<depend package="roscpp"/>
<depend package="std_msgs"/>
<depend package="joy" />
-
+ <depend package="opencv_latest"/>
+ <depend package="sensor_msgs"/>
+ <depend package="topic_synchronizer"/>
+ <depend package="color_calib"/>
+ <depend package="stereo_utils"/>
</package>
Deleted: pkg/trunk/sandbox/person_data/person_data.launch
===================================================================
--- pkg/trunk/sandbox/person_data/person_data.launch 2009-08-26 20:18:13 UTC (rev 23016)
+++ pkg/trunk/sandbox/person_data/person_data.launch 2009-08-26 20:23:30 UTC (rev 23017)
@@ -1,11 +0,0 @@
-<launch>
-<node pkg="person_data" type="joylistener" output="screen"/>
-<node pkg ="person_data" type="headhack" output="screen" />
-<node pkg ="pr2_experimental_controllers" type="tuckarm.py" args="r" output="screen" />
-<!-- for some reason putting joylistener after the other launch files broke it,
-and putting headhack after them makes roslaunch not find it! -->
-<!-- node pkg="pr2_experimental_controllers" type="tuckarm.py" args="r" -->
-<include file="$(find person_data)/data_collector_record.launch" />
-<include file="$(find person_data)/truly_passive.launch" />
-<include file="$(find person_data)/teleop_joystick.launch" />
-</launch>
Deleted: pkg/trunk/sandbox/person_data/person_data_dummy.launch
===================================================================
--- pkg/trunk/sandbox/person_data/person_data_dummy.launch 2009-08-26 20:18:13 UTC (rev 23016)
+++ pkg/trunk/sandbox/person_data/person_data_dummy.launch 2009-08-26 20:23:30 UTC (rev 23017)
@@ -1,11 +0,0 @@
-<launch>
-<!-- dummy version of person_data.launch for offline testing -->
-<node pkg="person_data" type="joylistener_dummy" output="screen"/>
-
-<!-- for some reason putting joylistener after the other launch files broke it,
-and putting headhack after them makes roslaunch not find it! -->
-
-<node pkg="person_data" type="named" args="/person_dummy_data"/>
-<include file="$(find person_data)/data_collector_record_dummy.launch" />
-
-</launch>
Deleted: pkg/trunk/sandbox/person_data/prf.launch
===================================================================
--- pkg/trunk/sandbox/person_data/prf.launch 2009-08-26 20:18:13 UTC (rev 23016)
+++ pkg/trunk/sandbox/person_data/prf.launch 2009-08-26 20:23:30 UTC (rev 23017)
@@ -1,120 +0,0 @@
-<launch>
-
- <include file="$(find pr2_alpha)/prf.machine" />
- <include file="$(find pr2_alpha)/prf_ethercat_reset.launch" />
-
-<!-- Joystick -->
- <param name="joy/deadzone" value="5000"/>
- <node machine="four" pkg="joy" type="joy" respawn="true"/>
-
-<!-- Power Board Control Node -->
- <node pkg="pr2_power_board" type="power_node" respawn="true"/>
-
-<!-- Robot state publisher -->
- <node machine="two" pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
- <param name="publish_frequency" type="double" value="50.0" />
- <param name="tf_prefix" type="string" value="" />
- </node>
-
-<!-- Battery Monitor -->
- <node machine="two" pkg="ocean_battery_driver" type="monitor" respawn="true"/>
-<!-- Battery Assertions -->
- <include file="$(find ocean_battery_driver)/expected_batteries.launch"/>
-
-<!-- Base Laser -->
- <node machine="two" pkg="hokuyo_node" type="hokuyo_node" name="base_hokuyo_node" args="scan:=base_scan">
- <param name="port" type="string" value="/dev/ttyACM0" />
- <param name="frameid" type="string" value="base_laser" />
- <param name="min_ang_degrees" type="double" value="-130.0" />
- <param name="max_ang_degrees" type="double" value="130.0" />
- </node>
-
-<!-- Tilt Laser -->
- <node machine="three" pkg="hokuyo_node" type="hokuyo_node" name="tilt_hokuyo_node" args="scan:=tilt_scan">
- <param name="port" type="string" value="/dev/ttyACM0" />
- <param name="frameid" type="string" value="laser_tilt_link" />
- <param name="min_ang_degrees" type="double" value="-70.0" />
- <param name="max_ang_degrees" type="double" value="70.0" />
- <param name="skip" type="int" value="1" />
- <param name="intensity" value="true" />
- </node>
-
-<!-- imu -->
- <param name="imu/time_offset" value="-0.040" />
- <param name="imu/port" type="string" value="/dev/ttyUSB0" />
- <param name="imu/autostart" type="bool" value="true" />
- <param name="imu/frameid" type="string" value="imu" />
- <param name="imu/autocalibrate" type="bool" value="true" />
- <node machine="four" pkg="imu_node" type="imu_node" output="screen"/>
-
- <!-- Videre Stereo cam -->
- <!-- DEPRECATED include file="$(find pr2_alpha)/stereo.launch" /-->
-
- <!-- Prosilica camera setup, 7/14/09 -->
- <group ns="prosilica">
- <include file="$(find prosilica_cam)/cam_settings.xml"/>
- <param name="acquisition_mode" type="str" value="Triggered"/>
- <param name="ip_address" type="str" value="10.68.0.20"/>
- </group>
- <node machine="three" name="prosilica" pkg="prosilica_cam" type="prosilica_node" output="screen" respawn="true"/>
-
-<!-- Double stereo setup, 7/14/09 -->
- <!-- Wide is on robot right, goes to four -->
- <group ns="wide_stereo">
- <node machine="four" pkg="dcam" type="stereodcam" name="stereodcam" respawn="false" >
- <param name="videre_mode" type="str" value="none"/>
- <param name="fps" type="double" value="15.0"/>
- <param name="frame_id" type="string" value="double_stereo_wide_optical_frame"/>
- <param name="exposure_auto" type="bool" value="true"/>
- <param name="brightness_auto" type="bool" value="true"/>
- <param name="gain_auto" type="bool" value="true"/>
- </node>
- </group>
-
- <!-- Narrow is on robot left, goes to three -->
- <group ns="narrow_stereo">
- <node machine="three" pkg="dcam" type="stereodcam" name="stereodcam" respawn="false" >
- <param name="videre_mode" type="str" value="none"/>
- <param name="fps" type="double" value="30.0"/>
- <param name="frame_id" type="string" value="double_stereo_narrow_optical_frame"/>
- <param name="exposure_auto" type="bool" value="true"/>
- <param name="brightness_auto" type="bool" value="true"/>
- <param name="gain_auto" type="bool" value="true"/>
- </node>
- </group>
-
-<!-- Forearm Camera -->
- <include file="$(find forearm_cam)/prf_forearm_cam_config.launch"/>
- <node machine="three" name="forearm_cam_r" pkg="forearm_cam" type="forearm_node" respawn="false" output="screen"/>
-
-<!-- Sound -->
- <node pkg="sound_play" type="soundplay_node.py" machine="four" />
-
-<!-- Runtime Diagnostics Logging -->
- <node pkg="rosrecord" type="rosrecord" args="-f /hwlog/prf_runtime_automatic /diagnostics" />
-
-<!-- Joint Calibration Monitor -->
- <node pkg="joint_calibration_monitor" type="pr2_calibration_monitor_node.py" machine="two" />
-
-<!-- NTP monitoring script Warns to console if sync error -->
- <node pkg="pr2_computer_monitor" type="ntp_monitor.py" args="prf2" machine="realtime"/>
- <node pkg="pr2_computer_monitor" type="ntp_monitor.py" args="fw1 7000" machine="two"/>
- <node pkg="pr2_computer_monitor" type="ntp_monitor.py" args="prf2" machine="three"/>
- <node pkg="pr2_computer_monitor" type="ntp_monitor.py" args="prf2" machine="four"/>
-
-<!-- Disk, CPU monitoring scripts. -->
- <include file="$(find pr2_alpha)/pr2_monitors.launch" />
-
- <!-- Plug to chessboard offsets -->
- <group ns="plug_detector">
- <param name="plug_position_x" value="0.01" />
- <param name="plug_position_y" value="-0.005" />
- <param name="plug_position_z" value="0.016" />
- <param name="plug_orientation_x" value="0.71428" />
- <param name="plug_orientation_y" value="-0.69958" />
- <param name="plug_orientation_z" value="0.00588" />
- <param name="plug_orientation_w" value="0.01906" />
- </group>
-
-</launch>
-
Copied: pkg/trunk/sandbox/person_data/prf_person.launch (from rev 21037, pkg/trunk/sandbox/person_data/prf.launch)
===================================================================
--- pkg/trunk/sandbox/person_data/prf_person.launch (rev 0)
+++ pkg/trunk/sandbox/person_data/prf_person.launch 2009-08-26 20:23:30 UTC (rev 23017)
@@ -0,0 +1,121 @@
+<launch>
+ <!-- This is a branch of prf.launch that was modified to put the narrow stereo on auto exposure. The main prf.launch gave it a very low exposure value for use with the terminator light. -->
+
+ <include file="$(find pr2_alpha)/prf.machine" />
+ <include file="$(find pr2_alpha)/prf_ethercat_reset.launch" />
+
+<!-- Joystick -->
+ <param name="joy/deadzone" value="5000"/>
+ <node machine="four" pkg="joy" type="joy" respawn="true"/>
+
+<!-- Power Board Control Node -->
+ <node pkg="pr2_power_board" type="power_node" respawn="true"/>
+
+<!-- Robot state publisher -->
+ <node machine="two" pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
+ <param name="publish_frequency" type="double" value="50.0" />
+ <param name="tf_prefix" type="string" value="" />
+ </node>
+
+<!-- Battery Monitor -->
+ <node machine="two" pkg="ocean_battery_driver" type="monitor" respawn="true"/>
+<!-- Battery Assertions -->
+ <include file="$(find ocean_battery_driver)/expected_batteries.launch"/>
+
+<!-- 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" />
+ <param name="frameid" type="string" value="base_laser" />
+ <param name="min_ang_degrees" type="double" value="-130.0" />
+ <param name="max_ang_degrees" type="double" value="130.0" />
+ </node>
+
+<!-- Tilt Laser -->
+ <node machine="three" pkg="hokuyo_node" type="hokuyo_node" name="tilt_hokuyo_node" args="scan:=tilt_scan">
+ <param name="port" type="string" value="/dev/ttyACM0" />
+ <param name="frameid" type="string" value="laser_tilt_link" />
+ <param name="min_ang_degrees" type="double" value="-70.0" />
+ <param name="max_ang_degrees" type="double" value="70.0" />
+ <param name="skip" type="int" value="1" />
+ <param name="intensity" value="true" />
+ </node>
+
+<!-- imu -->
+ <param name="imu/time_offset" value="-0.040" />
+ <param name="imu/port" type="string" value="/dev/ttyUSB0" />
+ <param name="imu/autostart" type="bool" value="true" />
+ <param name="imu/frameid" type="string" value="imu" />
+ <param name="imu/autocalibrate" type="bool" value="true" />
+ <node machine="four" pkg="imu_node" type="imu_node" output="screen"/>
+
+ <!-- Videre Stereo cam -->
+ <!-- DEPRECATED include file="$(find pr2_alpha)/stereo.launch" /-->
+
+ <!-- Prosilica camera setup, 7/14/09 -->
+ <group ns="prosilica">
+ <include file="$(find prosilica_cam)/cam_settings.xml"/>
+ <param name="acquisition_mode" type="str" value="Triggered"/>
+ <param name="ip_address" type="str" value="10.68.0.20"/>
+ </group>
+ <node machine="three" name="prosilica" pkg="prosilica_cam" type="prosilica_node" output="screen" respawn="true"/>
+
+<!-- Double stereo setup, 7/14/09 -->
+ <!-- Wide is on robot right, goes to four -->
+ <group ns="wide_stereo">
+ <node machine="four" pkg="dcam" type="stereodcam" name="stereodcam" respawn="false" >
+ <param name="videre_mode" type="str" value="none"/>
+ <param name="fps" type="double" value="15.0"/>
+ <param name="frame_id" type="string" value="double_stereo_wide_optical_frame"/>
+ <param name="exposure_auto" type="bool" value="true"/>
+ <param name="brightness_auto" type="bool" value="true"/>
+ <param name="gain_auto" type="bool" value="true"/>
+ </node>
+ </group>
+
+ <!-- Narrow is on robot left, goes to three -->
+ <group ns="narrow_stereo">
+ <node machine="three" pkg="dcam" type="stereodcam" name="stereodcam" respawn="false" >
+ <param name="videre_mode" type="str" value="none"/>
+ <param name="fps" type="double" value="30.0"/>
+ <param name="frame_id" type="string" value="double_stereo_narrow_optical_frame"/>
+ <param name="exposure_auto" type="bool" value="true"/>
+ <param name="brightness_auto" type="bool" value="true"/>
+ <param name="gain_auto" type="bool" value="true"/>
+ </node>
+ </group>
+
+<!-- Forearm Camera -->
+ <include file="$(find forearm_cam)/prf_forearm_cam_config.launch"/>
+ <node machine="three" name="forearm_cam_r" pkg="forearm_cam" type="forearm_node" respawn="false" output="screen"/>
+
+<!-- Sound -->
+ <node pkg="sound_play" type="soundplay_node.py" machine="four" />
+
+<!-- Runtime Diagnostics Logging -->
+ <node pkg="rosrecord" type="rosrecord" args="-f /hwlog/prf_runtime_automatic /diagnostics" />
+
+<!-- Joint Calibration Monitor -->
+ <node pkg="joint_calibration_monitor" type="pr2_calibration_monitor_node.py" machine="two" />
+
+<!-- NTP monitoring script Warns to console if sync error -->
+ <node pkg="pr2_computer_monitor" type="ntp_monitor.py" args="prf2" machine="realtime"/>
+ <node pkg="pr2_computer_monitor" type="ntp_monitor.py" args="fw1 7000" machine="two"/>
+ <node pkg="pr2_computer_monitor" type="ntp_monitor.py" args="prf2" machine="three"/>
+ <node pkg="pr2_computer_monitor" type="ntp_monitor.py" args="prf2" machine="four"/>
+
+<!-- Disk, CPU monitoring scripts. -->
+ <include file="$(find pr2_alpha)/pr2_monitors.launch" />
+
+ <!-- Plug to chessboard offsets -->
+ <group ns="plug_detector">
+ <param name="plug_position_x" value="0.01" />
+ <param name="plug_position_y" value="-0.005" />
+ <param name="plug_position_z" value="0.016" />
+ <param name="plug_orientation_x" value="0.71428" />
+ <param name="plug_orientation_y" value="-0.69958" />
+ <param name="plug_orientation_z" value="0.00588" />
+ <param name="plug_orientation_w" value="0.01906" />
+ </gro...
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