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[Personalrobots-commit] SF.net SVN: personalrobots:[23038] pkg/trunk
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From: <stu...@us...> - 2009-08-26 21:43:08
|
Revision: 23038
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23038&view=rev
Author: stuglaser
Date: 2009-08-26 21:43:00 +0000 (Wed, 26 Aug 2009)
Log Message:
-----------
Namespacing the controller plugins
Modified Paths:
--------------
pkg/trunk/controllers/pr2_mechanism_controllers/CMakeLists.txt
pkg/trunk/controllers/pr2_mechanism_controllers/controller_plugins.xml
pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_calibration_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/gripper_calibration_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/head_position_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/laser_scanner_traj_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_base_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_odometry.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/wrist_calibration_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/CMakeLists.txt
pkg/trunk/controllers/robot_mechanism_controllers/controller_plugins.xml
pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_pose_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_twist_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_wrench_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/joint_effort_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/joint_position_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/joint_ud_calibration_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/joint_velocity_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/trigger_controller.cpp
pkg/trunk/sandbox/dallas_controller/controller_plugins.xml
pkg/trunk/sandbox/experimental_controllers/controller_plugins.xml
pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/controller_plugins.xml
pkg/trunk/sandbox/trajectory_controllers/controller_plugins.xml
pkg/trunk/stacks/mechanism/mechanism_control/src/mechanism_control/mechanism.py
pkg/trunk/stacks/mechanism/mechanism_control/src/mechanism_control.cpp
Removed Paths:
-------------
pkg/trunk/controllers/pr2_mechanism_controllers/src/controller_manifest.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/controller_manifest.cpp
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/CMakeLists.txt
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/CMakeLists.txt 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/CMakeLists.txt 2009-08-26 21:43:00 UTC (rev 23038)
@@ -11,17 +11,13 @@
rospack_add_boost_directories()
rospack_add_library( pr2_mechanism_controllers
- src/controller_manifest.cpp
src/laser_scanner_traj_controller.cpp
src/head_position_controller.cpp
src/caster_controller.cpp
-#src/caster_controller_effort.cpp
src/caster_calibration_controller.cpp
-#src/caster_calibration_controller_effort.cpp
src/wrist_calibration_controller.cpp
src/gripper_calibration_controller.cpp
src/base_kinematics.cpp
- #src/pr2_gripper_controller.cpp
src/pr2_odometry.cpp
src/pr2_base_controller.cpp
)
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/controller_plugins.xml
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/controller_plugins.xml 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/controller_plugins.xml 2009-08-26 21:43:00 UTC (rev 23038)
@@ -1,13 +1,13 @@
<library path="lib/libpr2_mechanism_controllers">
- <class name="CasterCalibrationController" type="CasterCalibrationController" base_class_type="Controller" />
- <class name="CasterController" type="CasterController" base_class_type="Controller" />
- <class name="CasterControllerNode" type="CasterControllerNode" base_class_type="Controller" />
- <class name="GripperCalibrationController" type="GripperCalibrationController" base_class_type="Controller" />
- <class name="GripperCalibrationControllerNode" type="GripperCalibrationControllerNode" base_class_type="Controller" />
- <class name="HeadPositionController" type="HeadPositionController" base_class_type="Controller" />
- <class name="LaserScannerTrajController" type="LaserScannerTrajController" base_class_type="Controller" />
- <class name="LaserScannerTrajControllerNode" type="LaserScannerTrajControllerNode" base_class_type="Controller" />
- <class name="Pr2BaseController" type="Pr2BaseController" base_class_type="Controller" />
- <class name="Pr2Odometry" type="Pr2Odometry" base_class_type="Controller" />
- <class name="WristCalibrationController" type="WristCalibrationController" base_class_type="Controller" />
+ <class name="CasterCalibrationController" type="controller::CasterCalibrationController" base_class_type="controller::Controller" />
+ <class name="CasterController" type="controller::CasterController" base_class_type="controller::Controller" />
+ <class name="CasterControllerNode" type="controller::CasterControllerNode" base_class_type="controller::Controller" />
+ <class name="GripperCalibrationController" type="controller::GripperCalibrationController" base_class_type="controller::Controller" />
+ <class name="GripperCalibrationControllerNode" type="controller::GripperCalibrationControllerNode" base_class_type="controller::Controller" />
+ <class name="HeadPositionController" type="controller::HeadPositionController" base_class_type="controller::Controller" />
+ <class name="LaserScannerTrajController" type="controller::LaserScannerTrajController" base_class_type="controller::Controller" />
+ <class name="LaserScannerTrajControllerNode" type="controller::LaserScannerTrajControllerNode" base_class_type="controller::Controller" />
+ <class name="Pr2BaseController" type="controller::Pr2BaseController" base_class_type="controller::Controller" />
+ <class name="Pr2Odometry" type="controller::Pr2Odometry" base_class_type="controller::Controller" />
+ <class name="WristCalibrationController" type="controller::WristCalibrationController" base_class_type="controller::Controller" />
</library>
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_calibration_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_calibration_controller.cpp 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_calibration_controller.cpp 2009-08-26 21:43:00 UTC (rev 23038)
@@ -32,11 +32,12 @@
*/
#include "pr2_mechanism_controllers/caster_calibration_controller.h"
+#include "pluginlib/class_list_macros.h"
+PLUGINLIB_REGISTER_CLASS(CasterCalibrationController, controller::CasterCalibrationController, controller::Controller)
+
namespace controller {
-ROS_REGISTER_CONTROLLER(CasterCalibrationController)
-
CasterCalibrationController::CasterCalibrationController()
: robot_(NULL), state_(INITIALIZED),
joint_(NULL), wheel_l_joint_(NULL), wheel_r_joint_(NULL), last_publish_time_(0)
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_controller.cpp 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_controller.cpp 2009-08-26 21:43:00 UTC (rev 23038)
@@ -32,14 +32,15 @@
*/
#include "pr2_mechanism_controllers/caster_controller.h"
+#include "pluginlib/class_list_macros.h"
+PLUGINLIB_REGISTER_CLASS(CasterController, controller::CasterController, controller::Controller)
+
namespace controller {
const double CasterController::WHEEL_RADIUS = 0.079;
const double CasterController::WHEEL_OFFSET = 0.049;
-ROS_REGISTER_CONTROLLER(CasterController);
-
CasterController::CasterController()
: steer_velocity_(0), drive_velocity_(0)
{
Deleted: pkg/trunk/controllers/pr2_mechanism_controllers/src/controller_manifest.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/controller_manifest.cpp 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/controller_manifest.cpp 2009-08-26 21:43:00 UTC (rev 23038)
@@ -1,58 +0,0 @@
-/*
- * Copyright (c) 2009, Willow Garage, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * * Neither the name of the Willow Garage, Inc. nor the names of its
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-
-#include "pluginlib/class_list_macros.h"
-#include "controller_interface/controller.h"
-
-#include "pr2_mechanism_controllers/caster_calibration_controller.h"
-#include "pr2_mechanism_controllers/caster_controller.h"
-#include "pr2_mechanism_controllers/gripper_calibration_controller.h"
-#include "pr2_mechanism_controllers/head_position_controller.h"
-#include "pr2_mechanism_controllers/laser_scanner_traj_controller.h"
-#include "pr2_mechanism_controllers/pr2_base_controller.h"
-//#include "pr2_mechanism_controllers/pr2_gripper_controller.h"
-#include "pr2_mechanism_controllers/pr2_odometry.h"
-#include "pr2_mechanism_controllers/wrist_calibration_controller.h"
-
-
-using namespace controller;
-
-
-PLUGINLIB_REGISTER_CLASS(CasterCalibrationController, CasterCalibrationController, Controller)
-PLUGINLIB_REGISTER_CLASS(CasterController, CasterController, Controller)
-PLUGINLIB_REGISTER_CLASS(GripperCalibrationController, GripperCalibrationController, Controller)
-PLUGINLIB_REGISTER_CLASS(HeadPositionController, HeadPositionController, Controller)
-PLUGINLIB_REGISTER_CLASS(LaserScannerTrajController, LaserScannerTrajController, Controller)
-PLUGINLIB_REGISTER_CLASS(LaserScannerTrajControllerNode, LaserScannerTrajControllerNode, Controller)
-PLUGINLIB_REGISTER_CLASS(Pr2BaseController, Pr2BaseController, Controller)
-//PLUGINLIB_REGISTER_CLASS(Pr2GripperController, Pr2GripperController, Controller)
-PLUGINLIB_REGISTER_CLASS(Pr2Odometry, Pr2Odometry, Controller)
-PLUGINLIB_REGISTER_CLASS(WristCalibrationController, WristCalibrationController, Controller)
-
-
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/gripper_calibration_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/gripper_calibration_controller.cpp 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/gripper_calibration_controller.cpp 2009-08-26 21:43:00 UTC (rev 23038)
@@ -33,15 +33,17 @@
*********************************************************************/
#include "pr2_mechanism_controllers/gripper_calibration_controller.h"
-#include <ros/time.h>
+#include "ros/time.h"
+#include "pluginlib/class_list_macros.h"
using namespace std;
using namespace controller;
+PLUGINLIB_REGISTER_CLASS(GripperCalibrationController, controller::GripperCalibrationController, controller::Controller)
+
namespace controller
{
-
GripperCalibrationController::GripperCalibrationController()
: state_(INITIALIZED), last_publish_time_(0), joint_(NULL)
{
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/head_position_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/head_position_controller.cpp 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/head_position_controller.cpp 2009-08-26 21:43:00 UTC (rev 23038)
@@ -33,18 +33,18 @@
*********************************************************************/
-#include <pr2_mechanism_controllers/head_position_controller.h>
-#include <mechanism_control/mechanism_control.h>
-#include<cmath>
+#include "pr2_mechanism_controllers/head_position_controller.h"
+#include <cmath>
+#include "mechanism_control/mechanism_control.h"
+#include "pluginlib/class_list_macros.h"
using namespace tf;
using namespace std;
+PLUGINLIB_REGISTER_CLASS(HeadPositionController, controller::HeadPositionController, controller::Controller)
+
namespace controller {
-ROS_REGISTER_CONTROLLER(HeadPositionController)
-
-
HeadPositionController::HeadPositionController()
: robot_state_(NULL),
point_head_notifier_(NULL),
@@ -60,7 +60,7 @@
bool HeadPositionController::init(mechanism::RobotState *robot_state, const ros::NodeHandle &n)
{
node_ = n;
-
+
// get name link names from the param server
if (!node_.getParam("pan_link_name", pan_link_name_)){
ROS_ERROR("HeadPositionController: No pan link name found on parameter server (namespace: %s)",
@@ -72,7 +72,7 @@
node_.getNamespace().c_str());
return false;
}
-
+
// test if we got robot pointer
assert(robot_state);
robot_state_ = robot_state;
@@ -117,18 +117,18 @@
void HeadPositionController::command(const mechanism_msgs::JointStatesConstPtr& command_msg)
{
- assert(command_msg->joints.size() == 2);
+ assert(command_msg->joints.size() == 2);
if(command_msg->joints[0].name == head_pan_controller_.joint_state_->joint_->name_)
{
pan_out_ = command_msg->joints[0].position;
tilt_out_ = command_msg->joints[1].position;
}
- else
+ else
{
pan_out_ = command_msg->joints[1].position;
tilt_out_ = command_msg->joints[0].position;
}
-
+
}
void HeadPositionController::pointHead(const tf::MessageNotifier<geometry_msgs::PointStamped>::MessagePtr& point_msg)
@@ -141,7 +141,7 @@
// convert to reference frame of pan link parent
tf_.transformPoint(pan_parent, pan_point, pan_point);
- //calculate the pan angle
+ //calculate the pan angle
pan_out_ = atan2(pan_point.y(), pan_point.x());
Stamped<Point> tilt_point;
@@ -150,8 +150,8 @@
tf_.transformPoint(pan_link_name_, tilt_point, tilt_point);
//calculate the tilt angle
tilt_out_ = atan2(-tilt_point.z(), sqrt(tilt_point.x()*tilt_point.x() + tilt_point.y()*tilt_point.y()));
-
+
}
void HeadPositionController::pointFrameOnHead(const tf::MessageNotifier<geometry_msgs::PointStamped>::MessagePtr& point_msg)
@@ -182,7 +182,7 @@
Stamped<Point> tilt_point;
pointStampedMsgToTF(*point_msg, tilt_point);
tf_.transformPoint(pan_link_name_, tilt_point, tilt_point);
-
+
radius = pow(tilt_point.x(),2)+pow(tilt_point.y(),2);
x_intercept = sqrt(fabs(radius-pow(frame.getOrigin().z(),2)));
delta_theta = atan2(-tilt_point.z(), sqrt(tilt_point.x()*tilt_point.x() + tilt_point.y()*tilt_point.y()))-atan2(frame.getOrigin().z(),x_intercept);
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/laser_scanner_traj_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/laser_scanner_traj_controller.cpp 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/laser_scanner_traj_controller.cpp 2009-08-26 21:43:00 UTC (rev 23038)
@@ -31,18 +31,20 @@
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
+
+#include "pr2_mechanism_controllers/laser_scanner_traj_controller.h"
#include <algorithm>
-#include <pr2_mechanism_controllers/laser_scanner_traj_controller.h>
-#include <angles/angles.h>
+#include <cmath>
+#include "angles/angles.h"
+#include "pluginlib/class_list_macros.h"
-#include <math.h>
+PLUGINLIB_REGISTER_CLASS(LaserScannerTrajController, controller::LaserScannerTrajController, controller::Controller)
+PLUGINLIB_REGISTER_CLASS(LaserScannerTrajControllerNode, controller::LaserScannerTrajControllerNode, controller::Controller)
using namespace std ;
using namespace controller ;
using namespace filters ;
-ROS_REGISTER_CONTROLLER(LaserScannerTrajController)
-
LaserScannerTrajController::LaserScannerTrajController() : traj_(1)
{
tracking_offset_ = 0 ;
@@ -239,14 +241,14 @@
joint_state_->joint_->joint_limit_min_,
joint_state_->joint_->joint_limit_max_,
error) ;
-
+
double dt = time - last_time_ ;
double d_error = (error-last_error_)/dt ;
std::vector<double> vin;
vin.push_back(d_error);
std::vector<double> vout = vin;
-
+
d_error_filter.update(vin, vout) ;
double filtered_d_error = vout[0];
@@ -450,7 +452,6 @@
}*/
-ROS_REGISTER_CONTROLLER(LaserScannerTrajControllerNode)
LaserScannerTrajControllerNode::LaserScannerTrajControllerNode(): node_(ros::Node::instance()), c_()
{
prev_profile_segment_ = -1 ;
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_base_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_base_controller.cpp 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_base_controller.cpp 2009-08-26 21:43:00 UTC (rev 23038)
@@ -35,11 +35,13 @@
* Author: Sachin Chitta and Matthew Piccoli
*/
-#include <pr2_mechanism_controllers/pr2_base_controller.h>
+#include "pr2_mechanism_controllers/pr2_base_controller.h"
+#include "pluginlib/class_list_macros.h"
-using namespace controller;
-ROS_REGISTER_CONTROLLER(Pr2BaseController)
+PLUGINLIB_REGISTER_CLASS(Pr2BaseController, controller::Pr2BaseController, controller::Controller)
+namespace controller {
+
Pr2BaseController::Pr2BaseController()
{
//init variables
@@ -135,7 +137,7 @@
control_toolbox::Pid p_i_d;
state_publisher_->msg_.joint_name[j + base_kin_.num_casters_] = base_kin_.wheel_[j].joint_name_;
if(!p_i_d.init(ros::NodeHandle(node_,base_kin_.wheel_[j].joint_name_)))
- {
+ {
ROS_ERROR("Could not initialize pid for %s",base_kin_.wheel_[j].joint_name_.c_str());
return false;
}
@@ -483,3 +485,4 @@
this->setCommand(base_vel_msg_);
pthread_mutex_unlock(&pr2_base_controller_lock_);
}
+} // namespace
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_odometry.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_odometry.cpp 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_odometry.cpp 2009-08-26 21:43:00 UTC (rev 23038)
@@ -35,11 +35,13 @@
* Author: Sachin Chitta and Matthew Piccoli
*/
-#include <pr2_mechanism_controllers/pr2_odometry.h>
+#include "pr2_mechanism_controllers/pr2_odometry.h"
+#include "pluginlib/class_list_macros.h"
-using namespace controller;
-ROS_REGISTER_CONTROLLER(Pr2Odometry)
+PLUGINLIB_REGISTER_CLASS(Pr2Odometry, controller::Pr2Odometry, controller::Controller)
+namespace controller {
+
Pr2Odometry::Pr2Odometry()
{
}
@@ -88,7 +90,7 @@
fit_residual_ = Eigen::MatrixXf::Zero(16, 1);
odometry_residual_ = Eigen::MatrixXf::Zero(16, 1);
-
+
weight_matrix_ = Eigen::MatrixXf::Identity(16, 16);
odometry_publisher_.reset(new realtime_tools::RealtimePublisher<nav_msgs::Odometry>(node_,odom_frame_, 1));
@@ -175,11 +177,11 @@
double odom_multiplier;
if (residual < 0.05)
{
- odom_multiplier = ((residual-0.00001)*(0.99999/0.04999))+0.00001;
+ odom_multiplier = ((residual-0.00001)*(0.99999/0.04999))+0.00001;
}
else
{
- odom_multiplier = ((residual-0.05)*(19.0/0.15))+1.0;
+ odom_multiplier = ((residual-0.05)*(19.0/0.15))+1.0;
}
odom_multiplier = fmax(0.00001, fmin(100.0, odom_multiplier));
odom_multiplier *= 2.0;
@@ -291,7 +293,6 @@
}
return fit_soln_;
}
-;
Eigen::MatrixXf Pr2Odometry::findWeightMatrix(Eigen::MatrixXf residual, std::string weight_type)
{
@@ -337,7 +338,6 @@
}
return w_fit;
}
-;
void Pr2Odometry::publish()
{
@@ -352,7 +352,7 @@
if(transform_publisher_->trylock())
{
-
+
double x(0.), y(0.0), yaw(0.0), vx(0.0), vy(0.0), vyaw(0.0);
this->getOdometry(x, y, yaw, vx, vy, vyaw);
@@ -387,7 +387,8 @@
transform_publisher_->unlockAndPublish();
}
-
+
last_publish_time_ = current_time_;
-};
+}
+} // namespace
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/wrist_calibration_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/wrist_calibration_controller.cpp 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/wrist_calibration_controller.cpp 2009-08-26 21:43:00 UTC (rev 23038)
@@ -32,7 +32,10 @@
*/
#include "pr2_mechanism_controllers/wrist_calibration_controller.h"
+#include "pluginlib/class_list_macros.h"
+PLUGINLIB_REGISTER_CLASS(WristCalibrationController, controller::WristCalibrationController, controller::Controller)
+
namespace controller {
Modified: pkg/trunk/controllers/robot_mechanism_controllers/CMakeLists.txt
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/CMakeLists.txt 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/controllers/robot_mechanism_controllers/CMakeLists.txt 2009-08-26 21:43:00 UTC (rev 23038)
@@ -6,7 +6,6 @@
genmsg()
gensrv()
set(_srcs
- src/controller_manifest.cpp
src/cartesian_pose_controller.cpp
src/cartesian_twist_controller.cpp
src/cartesian_wrench_controller.cpp
Modified: pkg/trunk/controllers/robot_mechanism_controllers/controller_plugins.xml
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/controller_plugins.xml 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/controllers/robot_mechanism_controllers/controller_plugins.xml 2009-08-26 21:43:00 UTC (rev 23038)
@@ -1,16 +1,14 @@
<library path="lib/librobot_mechanism_controllers">
- <class name="JointEffortController" type="JointEffortController" base_class_type="Controller" />
+ <class name="JointEffortController" type="controller::JointEffortController" base_class_type="controller::Controller" />
+ <class name="JointVelocityController" type="controller::JointVelocityController" base_class_type="controller::Controller" />
+ <class name="JointPositionController" type="controller::JointPositionController" base_class_type="controller::Controller" />
- <class name="JointVelocityController" type="JointVelocityController" base_class_type="Controller" />
- <class name="JointPositionController" type="JointPositionController" base_class_type="Controller" />
+ <class name="CartesianWrenchController" type="controller::CartesianWrenchController" base_class_type="controller::Controller" />
+ <class name="CartesianTwistController" type="controller::CartesianTwistController" base_class_type="controller::Controller" />
+ <class name="CartesianPoseController" type="controller::CartesianPoseController" base_class_type="controller::Controller" />
- <class name="CartesianWrenchController" type="CartesianWrenchController" base_class_type="Controller" />
- <class name="CartesianTwistController" type="CartesianTwistController" base_class_type="Controller" />
- <class name="CartesianPoseController" type="CartesianPoseController" base_class_type="Controller" />
+ <class name="JointUDCalibrationController" type="controller::JointUDCalibrationController" base_class_type="controller::Controller" />
- <class name="JointUDCalibrationController" type="JointUDCalibrationController" base_class_type="Controller" />
-
- <class name="TriggerController" type="TriggerController" base_class_type="Controller" />
- <class name="TriggerControllerNode" type="TriggerControllerNode" base_class_type="Controller" />
-
+ <class name="TriggerController" type="controller::TriggerController" base_class_type="controller::Controller" />
+ <class name="TriggerControllerNode" type="controller::TriggerControllerNode" base_class_type="controller::Controller" />
</library>
Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_pose_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_pose_controller.cpp 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_pose_controller.cpp 2009-08-26 21:43:00 UTC (rev 23038)
@@ -33,21 +33,21 @@
+#include "robot_mechanism_controllers/cartesian_pose_controller.h"
#include <algorithm>
-#include <mechanism_control/mechanism_control.h>
#include "kdl/chainfksolverpos_recursive.hpp"
-#include "robot_mechanism_controllers/cartesian_pose_controller.h"
+#include "mechanism_control/mechanism_control.h"
+#include "pluginlib/class_list_macros.h"
using namespace KDL;
using namespace tf;
using namespace std;
+PLUGINLIB_REGISTER_CLASS(CartesianPoseController, controller::CartesianPoseController, controller::Controller)
namespace controller {
-ROS_REGISTER_CONTROLLER(CartesianPoseController)
-
CartesianPoseController::CartesianPoseController()
: robot_state_(NULL),
jnt_to_pose_solver_(NULL),
@@ -108,7 +108,7 @@
}
// subscribe to pose commands
- command_notifier_.reset(new MessageNotifier<geometry_msgs::PoseStamped>(tf_,
+ command_notifier_.reset(new MessageNotifier<geometry_msgs::PoseStamped>(tf_,
boost::bind(&CartesianPoseController::command, this, _1),
node_.getNamespace() + "/command", root_name_, 10));
// realtime publisher for control state
Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_twist_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_twist_controller.cpp 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_twist_controller.cpp 2009-08-26 21:43:00 UTC (rev 23038)
@@ -31,19 +31,19 @@
* Author: Wim Meeussen
*/
+#include "robot_mechanism_controllers/cartesian_twist_controller.h"
#include <algorithm>
-#include <mechanism_control/mechanism_control.h>
+#include "mechanism_control/mechanism_control.h"
#include "kdl/chainfksolvervel_recursive.hpp"
-#include "robot_mechanism_controllers/cartesian_twist_controller.h"
+#include "pluginlib/class_list_macros.h"
using namespace KDL;
+PLUGINLIB_REGISTER_CLASS(CartesianTwistController, controller::CartesianTwistController, controller::Controller)
namespace controller {
-ROS_REGISTER_CONTROLLER(CartesianTwistController)
-
CartesianTwistController::CartesianTwistController()
: robot_state_(NULL),
jnt_to_twist_solver_(NULL)
Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_wrench_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_wrench_controller.cpp 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_wrench_controller.cpp 2009-08-26 21:43:00 UTC (rev 23038)
@@ -31,17 +31,17 @@
* Author: Wim Meeussen
*/
+#include "robot_mechanism_controllers/cartesian_wrench_controller.h"
#include <algorithm>
-#include <robot_mechanism_controllers/cartesian_wrench_controller.h>
+#include "pluginlib/class_list_macros.h"
using namespace KDL;
+PLUGINLIB_REGISTER_CLASS(CartesianWrenchController, controller::CartesianWrenchController, controller::Controller)
+
namespace controller {
-
-ROS_REGISTER_CONTROLLER(CartesianWrenchController)
-
CartesianWrenchController::CartesianWrenchController()
: robot_state_(NULL),
jnt_to_jac_solver_(NULL)
Deleted: pkg/trunk/controllers/robot_mechanism_controllers/src/controller_manifest.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/controller_manifest.cpp 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/controller_manifest.cpp 2009-08-26 21:43:00 UTC (rev 23038)
@@ -1,56 +0,0 @@
-/*
- * Copyright (c) 2009, Willow Garage, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * * Neither the name of the Willow Garage, Inc. nor the names of its
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-
-#include "pluginlib/class_list_macros.h"
-#include "controller_interface/controller.h"
-
-#include "robot_mechanism_controllers/cartesian_pose_controller.h"
-#include "robot_mechanism_controllers/cartesian_twist_controller.h"
-#include "robot_mechanism_controllers/cartesian_wrench_controller.h"
-#include "robot_mechanism_controllers/joint_effort_controller.h"
-#include "robot_mechanism_controllers/joint_position_controller.h"
-#include "robot_mechanism_controllers/joint_ud_calibration_controller.h"
-#include "robot_mechanism_controllers/joint_velocity_controller.h"
-#include "robot_mechanism_controllers/trigger_controller.h"
-
-using namespace controller;
-
-
-PLUGINLIB_REGISTER_CLASS(JointEffortController, JointEffortController, Controller)
-PLUGINLIB_REGISTER_CLASS(JointVelocityController, JointVelocityController, Controller)
-PLUGINLIB_REGISTER_CLASS(JointPositionController, JointPositionController, Controller)
-
-PLUGINLIB_REGISTER_CLASS(CartesianWrenchController, CartesianWrenchController, Controller)
-PLUGINLIB_REGISTER_CLASS(CartesianTwistController, CartesianTwistController, Controller)
-PLUGINLIB_REGISTER_CLASS(CartesianPoseController, CartesianPoseController, Controller)
-
-PLUGINLIB_REGISTER_CLASS(JointUDCalibrationController, JointUDCalibrationController, Controller)
-
-PLUGINLIB_REGISTER_CLASS(TriggerController, TriggerController, Controller)
-PLUGINLIB_REGISTER_CLASS(TriggerControllerNode, TriggerControllerNode, Controller)
Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/joint_effort_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/joint_effort_controller.cpp 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/joint_effort_controller.cpp 2009-08-26 21:43:00 UTC (rev 23038)
@@ -31,13 +31,14 @@
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
-#include <robot_mechanism_controllers/joint_effort_controller.h>
+#include "robot_mechanism_controllers/joint_effort_controller.h"
+#include "pluginlib/class_list_macros.h"
+PLUGINLIB_REGISTER_CLASS(JointEffortController, controller::JointEffortController, controller::Controller)
+
namespace controller {
-ROS_REGISTER_CONTROLLER(JointEffortController)
-
JointEffortController::JointEffortController()
: joint_state_(NULL), command_(0), robot_(NULL)
{
Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/joint_position_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/joint_position_controller.cpp 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/joint_position_controller.cpp 2009-08-26 21:43:00 UTC (rev 23038)
@@ -32,16 +32,16 @@
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
-#include <robot_mechanism_controllers/joint_position_controller.h>
-#include <angles/angles.h>
+#include "robot_mechanism_controllers/joint_position_controller.h"
+#include "angles/angles.h"
+#include "pluginlib/class_list_macros.h"
+PLUGINLIB_REGISTER_CLASS(JointPositionController, controller::JointPositionController, controller::Controller)
using namespace std;
namespace controller {
-ROS_REGISTER_CONTROLLER(JointPositionController)
-
JointPositionController::JointPositionController()
: joint_state_(NULL), command_(0),
loop_count_(0), initialized_(false), robot_(NULL), last_time_(0)
Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/joint_ud_calibration_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/joint_ud_calibration_controller.cpp 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/joint_ud_calibration_controller.cpp 2009-08-26 21:43:00 UTC (rev 23038)
@@ -32,15 +32,16 @@
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
-#include <robot_mechanism_controllers/joint_ud_calibration_controller.h>
-#include <ros/time.h>
+#include "robot_mechanism_controllers/joint_ud_calibration_controller.h"
+#include "ros/time.h"
+#include "pluginlib/class_list_macros.h"
+PLUGINLIB_REGISTER_CLASS(JointUDCalibrationController, controller::JointUDCalibrationController, controller::Controller)
+
using namespace std;
namespace controller {
-ROS_REGISTER_CONTROLLER(JointUDCalibrationController)
-
JointUDCalibrationController::JointUDCalibrationController()
: robot_(NULL), last_publish_time_(0), state_(INITIALIZED),
actuator_(NULL), joint_(NULL), transmission_(NULL)
Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/joint_velocity_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/joint_velocity_controller.cpp 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/joint_velocity_controller.cpp 2009-08-26 21:43:00 UTC (rev 23038)
@@ -32,14 +32,15 @@
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
-#include <robot_mechanism_controllers/joint_velocity_controller.h>
+#include "robot_mechanism_controllers/joint_velocity_controller.h"
+#include "pluginlib/class_list_macros.h"
+PLUGINLIB_REGISTER_CLASS(JointVelocityController, controller::JointVelocityController, controller::Controller)
+
using namespace std;
namespace controller {
-ROS_REGISTER_CONTROLLER(JointVelocityController)
-
JointVelocityController::JointVelocityController()
: joint_state_(NULL), command_(0), robot_(NULL), last_time_(0), loop_count_(0)
{
@@ -122,7 +123,7 @@
new realtime_tools::RealtimePublisher<robot_mechanism_controllers::JointControllerState>
(node_, "state", 1));
- sub_command_ = node_.subscribe<std_msgs::Float64>("set_command", 1, &JointVelocityController::setCommandCB, this);
+ sub_command_ = node_.subscribe<std_msgs::Float64>("command", 1, &JointVelocityController::setCommandCB, this);
return true;
}
Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/trigger_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/trigger_controller.cpp 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/trigger_controller.cpp 2009-08-26 21:43:00 UTC (rev 23038)
@@ -35,36 +35,38 @@
/** Example .xml configuration file
<controllers>
-<controller name="cam_controller" type="TriggerControllerNode">
+<controller name="cam_controller" type="TriggerControllerNode">
<actuator name="fl_caster_l_wheel_motor" />
<waveform rep_rate="10" active_low="0" phase="0" duty_cycle=".5" running="1" pulsed="1" />
-</controller>
+</controller>
<controller name="led_controller" type="TriggerControllerNode">
<actuator name="bl_caster_l_wheel_motor" />
<waveform rep_rate="10" active_low="0" phase="0" duty_cycle=".5" running="1" pulsed="1" />
-</controller>
-</controllers>
+</controller>
+</controllers>
There are three operating modes:
Constant: (running = 0)
active_low sets the constant output value
Pulsed: (running = 1, pulsed = 1)
active_low sets resting output value
- With rate rep_rate (Hz), the output is inverted for one cycle. The pulse is delayed using
+ With rate rep_rate (Hz), the output is inverted for one cycle. The pulse is delayed using
phase varying from 0 to 1.
Rectangular: (running = 1, pulsed = 0)
Rectangular wave with duty cycle set by duty_cycle (0 to 1), rate rep_rate (Hz), goes to
!active_low at instant determined by phase.
*/
-#include <ros/console.h>
-#include <robot_mechanism_controllers/trigger_controller.h>
+#include "robot_mechanism_controllers/trigger_controller.h"
+#include "ros/console.h"
+#include "pluginlib/class_list_macros.h"
+PLUGINLIB_REGISTER_CLASS(TriggerController, controller::TriggerController, controller::Controller)
+PLUGINLIB_REGISTER_CLASS(TriggerControllerNode, controller::TriggerControllerNode, controller::Controller)
+
using std::string;
using namespace controller;
-ROS_REGISTER_CONTROLLER(TriggerController);
-
TriggerController::TriggerController()
{
ROS_DEBUG("creating controller...");
@@ -83,7 +85,7 @@
{
double tick = getTick();
bool active = false;
-
+
if (config_.running)
{
if (config_.pulsed)
@@ -99,26 +101,26 @@
// ROS_INFO("Changed to: %i (%s)", active, actuator_name_.c_str()); // KILLME
}
}
-
+
//if (actuator_command_->digital_out_ && !(active ^ config_.active_low))
// ROS_DEBUG("digital out falling at time %f", robot_->getTime());
actuator_command_->digital_out_ = active ^ config_.active_low;
// ROS_INFO("digital out: %i (%s)", actuator_command_->digital_out_, actuator_name_.c_str());
-
- prev_tick_ = tick;
+
+ prev_tick_ = tick;
}
bool TriggerController::init(mechanism::RobotState *robot, const ros::NodeHandle& n)
{
assert(robot);
robot_=robot;
-
+
ROS_DEBUG("TriggerController::init starting");
-
+
// Get the actuator name.
-
+
if (!n.getParam("actuator", actuator_name_)){
ROS_ERROR("TriggerController was not given an actuator.");
return false;
@@ -127,13 +129,13 @@
Actuator *actuator = robot_->model_->getActuator(actuator_name_);
if (!actuator)
{
- ROS_ERROR("TriggerController could not find actuator named \"%s\".",
+ ROS_ERROR("TriggerController could not find actuator named \"%s\".",
actuator_name_.c_str());
return false;
}
actuator_command_ = &actuator->command_;
-
+
// Get the startup configuration (pulsed or constant)
config_.rep_rate = 1;
@@ -151,7 +153,7 @@
n.getParam("pulsed", config_.pulsed);
prev_tick_ = getTick();
-
+
ROS_DEBUG("TriggerController::init completed successfully"
" rr=%f ph=%f al=%i r=%i p=%i dc=%f.",
config_.rep_rate, config_.phase, config_.active_low, config_.running, config_.pulsed, config_.duty_cycle);
@@ -193,9 +195,9 @@
c_->config_.active_low = !!req.active_low;
c_->config_.pulsed = !!req.pulsed;
c_->config_.running = !!req.running;
-
+
ROS_DEBUG("TriggerController::setWaveformSrv completed successfully"
- " rr=%f ph=%f al=%i r=%i p=%i dc=%f.", c_->config_.rep_rate, c_->config_.phase,
+ " rr=%f ph=%f al=%i r=%i p=%i dc=%f.", c_->config_.rep_rate, c_->config_.phase,
c_->config_.active_low, c_->config_.running, c_->config_.pulsed, c_->config_.duty_cycle);
return true;
@@ -205,7 +207,7 @@
{
node_handle_ = n;
//Init the model.
-
+
ROS_DEBUG("LOADING TRIGGER CONTROLLER NODE");
//string prefix = config->Attribute("name");
//ROS_DEBUG_STREAM("the prefix is "<<prefix);
Modified: pkg/trunk/sandbox/dallas_controller/controller_plugins.xml
===================================================================
--- pkg/trunk/sandbox/dallas_controller/controller_plugins.xml 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/sandbox/dallas_controller/controller_plugins.xml 2009-08-26 21:43:00 UTC (rev 23038)
@@ -1,3 +1,3 @@
<library path="lib/libdallas_controller">
- <class name="DallasController" type="DallasController" base_class_type="Controller" />
+ <class name="DallasController" type="controller::DallasController" base_class_type="controller::Controller" />
</library>
Modified: pkg/trunk/sandbox/experimental_controllers/controller_plugins.xml
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/controller_plugins.xml 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/sandbox/experimental_controllers/controller_plugins.xml 2009-08-26 21:43:00 UTC (rev 23038)
@@ -1,37 +1,37 @@
<library path="lib/libexperimental_controllers">
- <class name="JointTrajectoryController2" type="JointTrajectoryController2" base_class_type="Controller" />
- <class name="PIDPositionVelocityController" type="PIDPositionVelocityController" base_class_type="Controller" />
- <class name="TrajectoryController" type="TrajectoryController" base_class_type="Controller" />
- <class name="CartesianTFFController" type="CartesianTFFController" base_class_type="Controller" />
- <class name="CartesianHybridController" type="CartesianHybridController" base_class_type="Controller" />
- <class name="CartesianHybridControllerNode" type="CartesianHybridControllerNode" base_class_type="Controller" />
+ <class name="JointTrajectoryController2" type="controller::JointTrajectoryController2" base_class_type="controller::Controller" />
+ <class name="PIDPositionVelocityController" type="controller::PIDPositionVelocityController" base_class_type="controller::Controller" />
+ <class name="TrajectoryController" type="controller::TrajectoryController" base_class_type="controller::Controller" />
+ <class name="CartesianTFFController" type="controller::CartesianTFFController" base_class_type="controller::Controller" />
+ <class name="CartesianHybridController" type="controller::CartesianHybridController" base_class_type="controller::Controller" />
+ <class name="CartesianHybridControllerNode" type="controller::CartesianHybridControllerNode" base_class_type="controller::Controller" />
- <class name="DynamicLoaderController" type="DynamicLoaderController" base_class_type="Controller" />
+ <class name="DynamicLoaderController" type="controller::DynamicLoaderController" base_class_type="controller::Controller" />
- <class name="Probe" type="Probe" base_class_type="Controller" />
- <class name="CartesianTwistControllerIk" type="CartesianTwistControllerIk" base_class_type="Controller" />
- <class name="EndeffectorConstraintController" type="EndeffectorConstraintController" base_class_type="Controller" />
- <class name="EndeffectorConstraintControllerNode" type="EndeffectorConstraintControllerNode" base_class_type="Controller" />
- <class name="JointChainConstraintControllerNode" type="JointChainConstraintControllerNode" base_class_type="Controller" />
- <class name="JointInverseDynamicsController" type="JointInverseDynamicsController" base_class_type="Controller" />
- <class name="JointPositionSmoothController" type="JointPositionSmoothController" base_class_type="Controller" />
- <class name="JointPositionSmoothControllerNode" type="JointPositionSmoothControllerNode" base_class_type="Controller" />
+ <class name="Probe" type="controller::Probe" base_class_type="controller::Controller" />
+ <class name="CartesianTwistControllerIk" type="controller::CartesianTwistControllerIk" base_class_type="controller::Controller" />
+ <class name="EndeffectorConstraintController" type="controller::EndeffectorConstraintController" base_class_type="controller::Controller" />
+ <class name="EndeffectorConstraintControllerNode" type="controller::EndeffectorConstraintControllerNode" base_class_type="controller::Controller" />
+ <class name="JointChainConstraintControllerNode" type="controller::JointChainConstraintControllerNode" base_class_type="controller::Controller" />
+ <class name="JointInverseDynamicsController" type="controller::JointInverseDynamicsController" base_class_type="controller::Controller" />
+ <class name="JointPositionSmoothController" type="controller::JointPositionSmoothController" base_class_type="controller::Controller" />
+ <class name="JointPositionSmoothControllerNode" type="controller::JointPositionSmoothControllerNode" base_class_type="controller::Controller" />
- <class name="JointAutotuner" type="JointAutotuner" base_class_type="Controller" />
- <class name="JointAutotunerNode" type="JointAutotunerNode" base_class_type="Controller" />
- <class name="JointBlindCalibrationController" type="JointBlindCalibrationController" base_class_type="Controller" />
- <class name="JointBlindCalibrationControllerNode" type="JointBlindCalibrationControllerNode" base_class_type="Controller" />
- <class name="JointCalibrationControllerNode" type="JointCalibrationControllerNode" base_class_type="Controller" />
- <class name="JointChainSineController" type="JointChainSineController" base_class_type="Controller" />
- <class name="JointLimitCalibrationControllerNode" type="JointLimitCalibrationControllerNode" base_class_type="Controller" />
- <class name="JointPDController" type="JointPDController" base_class_type="Controller" />
- <class name="JointPDControllerNode" type="JointPDControllerNode" base_class_type="Controller" />
- <class name="CartesianTrajectoryController" type="CartesianTrajectoryController" base_class_type="Controller" />
+ <class name="JointAutotuner" type="controller::JointAutotuner" base_class_type="controller::Controller" />
+ <class name="JointAutotunerNode" type="controller::JointAutotunerNode" base_class_type="controller::Controller" />
+ <class name="JointBlindCalibrationController" type="controller::JointBlindCalibrationController" base_class_type="controller::Controller" />
+ <class name="JointBlindCalibrationControllerNode" type="controller::JointBlindCalibrationControllerNode" base_class_type="controller::Controller" />
+ <class name="JointCalibrationControllerNode" type="controller::JointCalibrationControllerNode" base_class_type="controller::Controller" />
+ <class name="JointChainSineController" type="controller::JointChainSineController" base_class_type="controller::Controller" />
+ <class name="JointLimitCalibrationControllerNode" type="controller::JointLimitCalibrationControllerNode" base_class_type="controller::Controller" />
+ <class name="JointPDController" type="controller::JointPDController" base_class_type="controller::Controller" />
+ <class name="JointPDControllerNode" type="controller::JointPDControllerNode" base_class_type="controller::Controller" />
+ <class name="CartesianTrajectoryController" type="controller::CartesianTrajectoryController" base_class_type="controller::Controller" />
- <class name="HeadServoingController" type="HeadServoingController" base_class_type="Controller" />
- <class name="JointTrajectoryController" type="JointTrajectoryController" base_class_type="Controller" />
- <class name="ArmTrajectoryControllerNode" type="ArmTrajectoryControllerNode" base_class_type="Controller" />
- <class name="Pr2GripperController" type="Pr2GripperController" base_class_type="Controller" />
+ <class name="HeadServoingController" type="controller::HeadServoingController" base_class_type="controller::Controller" />
+ <class name="JointTrajectoryController" type="controller::JointTrajectoryController" base_class_type="controller::Controller" />
+ <class name="ArmTrajectoryControllerNode" type="controller::ArmTrajectoryControllerNode" base_class_type="controller::Controller" />
+ <class name="Pr2GripperController" type="controller::Pr2GripperController" base_class_type="controller::Controller" />
</library>
Modified: pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/controller_plugins.xml
===================================================================
--- pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/controller_plugins.xml 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/controller_plugins.xml 2009-08-26 21:43:00 UTC (rev 23038)
@@ -1,6 +1,6 @@
<library path="lib/libjoint_qualification_controllers">
- <class name="CheckoutController" type="CheckoutController" base_class_type="Controller" />
- <class name="HoldSetController" type="HoldSetController" base_class_type="Controller" />
- <class name="HysteresisController" type="HysteresisController" base_class_type="Controller" />
- <class name="SineSweepController" type="SineSweepController" base_class_type="Controller" />
+ <class name="CheckoutController" type="controller::CheckoutController" base_class_type="controller::Controller" />
+ <class name="HoldSetController" type="controller::HoldSetController" base_class_type="controller::Controller" />
+ <class name="HysteresisController" type="controller::HysteresisController" base_class_type="controller::Controller" />
+ <class name="SineSweepController" type="controller::SineSweepController" base_class_type="controller::Controller" />
</library>
Modified: pkg/trunk/sandbox/trajectory_controllers/controller_plugins.xml
===================================================================
--- pkg/trunk/sandbox/trajectory_controllers/controller_plugins.xml 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/sandbox/trajectory_controllers/controller_plugins.xml 2009-08-26 21:43:00 UTC (rev 23038)
@@ -1,3 +1,3 @@
<library path="lib/libtrajectory_controllers">
- <class name="JointTrajectoryController2" type="JointTrajectoryController2" base_class_type="Controller" />
+ <class name="JointTrajectoryController2" type="controller::JointTrajectoryController2" base_class_type="controller::Controller" />
</library>
Modified: pkg/trunk/stacks/mechanism/mechanism_control/src/mechanism_control/mechanism.py
===================================================================
--- pkg/trunk/stacks/mechanism/mechanism_control/src/mechanism_control/mechanism.py 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/stacks/mechanism/mechanism_control/src/mechanism_control/mechanism.py 2009-08-26 21:43:00 UTC (rev 23038)
@@ -66,4 +66,3 @@
else:
print "Error when stopping ", name
-
Modified: pkg/trunk/stacks/mechanism/mechanism_control/src/mechanism_control.cpp
===================================================================
--- pkg/trunk/stacks/mechanism/mechanism_control/src/mechanism_control.cpp 2009-08-26 21:41:07 UTC (rev 23037)
+++ pkg/trunk/stacks/mechanism/mechanism_control/src/mechanism_control.cpp 2009-08-26 21:43:00 UTC (rev 23038)
@@ -44,8 +44,8 @@
MechanismControl::MechanismControl(HardwareInterface *hw) :
model_(hw),
- state_(NULL), hw_(hw),
- controller_loader_("controller_interface", "Controller"),
+ state_(NULL), hw_(hw),
+ controller_loader_("controller_interface", "controller::Controller"),
start_request_(0),
stop_request_(0),
please_switch_(false),
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