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[Personalrobots-commit] SF.net SVN: personalrobots:[23301] pkg/trunk
|
From: <bla...@us...> - 2009-08-28 22:57:37
|
Revision: 23301
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23301&view=rev
Author: blaisegassend
Date: 2009-08-28 22:57:28 +0000 (Fri, 28 Aug 2009)
Log Message:
-----------
Renamed forearm_cam to wge100_camera. Still a few broken things that will be fixed shortly.
Modified Paths:
--------------
pkg/trunk/drivers/cam/camera_focus/manifest.xml
pkg/trunk/drivers/cam/camera_trigger_test/four_cams.launch
pkg/trunk/drivers/cam/camera_trigger_test/manifest.xml
pkg/trunk/drivers/cam/camera_trigger_test/scripts/mode1plot.gnuplot
pkg/trunk/drivers/cam/camera_trigger_test/scripts/runmode0.sh
pkg/trunk/drivers/cam/camera_trigger_test/testmode0.launch
pkg/trunk/drivers/cam/camera_trigger_test/testmode1.launch
pkg/trunk/pr2/qualification/CMakeLists.txt
pkg/trunk/pr2/qualification/config/configs.xml
pkg/trunk/pr2/qualification/manifest.xml
pkg/trunk/pr2/qualification/tests/tests.xml
pkg/trunk/pr2/qualification/tests/wge100_camera_test/ethercat.launch
pkg/trunk/pr2/qualification/tests/wge100_camera_test/led_flash_test.launch
pkg/trunk/pr2/qualification/tests/wge100_camera_test/load_firmware.py
pkg/trunk/pr2/qualification/tests/wge100_camera_test/load_firmware_ether.py
pkg/trunk/pr2/qualification/tests/wge100_camera_test/program_firmware.launch
pkg/trunk/pr2/qualification/tests/wge100_camera_test/program_firmware_ether.launch
pkg/trunk/pr2/qualification/tests/wge100_camera_test/program_firmware_ram.launch
pkg/trunk/pr2/qualification/tests/wge100_camera_test/self_test_triggered.launch
pkg/trunk/pr2/qualification/tests/wge100_camera_test/self_test_untriggered.launch
pkg/trunk/stacks/camera_drivers/camera_launch_files/manifest.xml
pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml
pkg/trunk/stacks/pr2/pr2_alpha/pre.launch
pkg/trunk/stacks/pr2/pr2_alpha/prf.launch
pkg/trunk/stacks/pr2/pr2_alpha/prf_forearm_cam.launch
pkg/trunk/stacks/pr2/pr2_alpha/prf_forearm_cam_config.launch
pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
pkg/trunk/stacks/pr2/pr2_alpha/prg_forearm_cam.launch
Added Paths:
-----------
pkg/trunk/drivers/cam/camera_focus/wge100_camera_focus.launch
pkg/trunk/pr2/qualification/config/wge100_camera/
pkg/trunk/pr2/qualification/config/wge100_camera/set_name.py
pkg/trunk/pr2/qualification/config/wge100_camera/wge100_camera_board_config.py
pkg/trunk/pr2/qualification/tests/wge100_camera_test/
pkg/trunk/stacks/camera_drivers/camera_launch_files/wge100_camera_color.launch
pkg/trunk/stacks/camera_drivers/camera_launch_files/wge100_camera_view.launch
pkg/trunk/stacks/camera_drivers/wge100_camera/
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/wge100_camera_0x0B204113.mcs
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/wge100_camera_0x0B205114.mcs
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/wge100_camera_0x0B205119.bit
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/wge100_camera_0x0B205119.mcs
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/wge100_camera_0x0C300113.mcs
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/wge100_camera_0x0C400118.mcs
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/wge100_camera_0x0C400119.mcs
pkg/trunk/stacks/camera_drivers/wge100_camera/include/wge100_camera/
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera_demo.launch
pkg/trunk/vision/vision_tests/wge100_camera_hcb.launch
Removed Paths:
-------------
pkg/trunk/drivers/cam/camera_focus/forearm_cam_focus.launch
pkg/trunk/pr2/qualification/config/forearm_cam/
pkg/trunk/pr2/qualification/config/wge100_camera/forearm_cam_board_config.py
pkg/trunk/pr2/qualification/config/wge100_camera/set_name.py
pkg/trunk/pr2/qualification/tests/forearm_cam_test/
pkg/trunk/stacks/camera_drivers/camera_launch_files/forearm_cam_color.launch
pkg/trunk/stacks/camera_drivers/camera_launch_files/forearm_cam_view.launch
pkg/trunk/stacks/camera_drivers/forearm_cam/
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/forearm_cam_0x0B204113.mcs
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/forearm_cam_0x0B205114.mcs
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/forearm_cam_0x0B205119.bit
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/forearm_cam_0x0B205119.mcs
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/forearm_cam_0x0C300113.mcs
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/forearm_cam_0x0C400118.mcs
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/forearm_cam_0x0C400119.mcs
pkg/trunk/stacks/camera_drivers/wge100_camera/forearm_cam_demo.launch
pkg/trunk/stacks/camera_drivers/wge100_camera/include/forearm_cam/
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/CMakeLists.txt
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/EXAMPLE_LAUNCH_FILES
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/Makefile
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/cfg/
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/dox/
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/firmwares/
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/forearm_cam_demo.launch
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/include/
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/manifest.xml
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/src/
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/srv/
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/test/
pkg/trunk/vision/vision_tests/forearm_cam_hcb.launch
Deleted: pkg/trunk/drivers/cam/camera_focus/forearm_cam_focus.launch
===================================================================
--- pkg/trunk/drivers/cam/camera_focus/forearm_cam_focus.launch 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/drivers/cam/camera_focus/forearm_cam_focus.launch 2009-08-28 22:57:28 UTC (rev 23301)
@@ -1,31 +0,0 @@
-<launch>
- <group ns="forearm">
- <param name="if_name" type="str" value="eth2"/>
- <param name="ip_address" type="str" value="192.168.202.2"/>
- <param name="serial_number" type="int" value="-1"/>
- <param name="video_mode" type="str" value="640x480x12.5"/>
- <!--param name="frame_id" type="str" value="???"/-->
- <param name="do_colorize" type="bool" value="True"/>
- <param name="do_rectify" type="bool" value="True"/>
- <param name="ext_trigger" type="bool" value="False"/>
- <param name="trigger_controller" type="string" value=""/>
- <param name="gain" type="int" value="64" />
- <param name="exposure" type="double" value="0.020" />
- </group>
- <node name="forearm" pkg="forearm_cam" type="forearm_node" respawn="false" output="screen"/>
- <node name="forearm_focus" pkg="camera_focus" type="focus" respawn="false" output="screen">
- <remap from="image" to="forearm/image_raw"/>
- <param name="startx" type="int" value="160"/>
- <param name="starty" type="int" value="120"/>
- <param name="endx" type="int" value="420"/>
- <param name="endy" type="int" value="280"/>
- </node>
- <node name="forearm_proc" pkg="stereo_image_proc" type="imageproc" respawn="false" output="screen">
- <remap from="camera" to="forearm"/>
- </node>
- <node pkg="image_view" type="image_view" respawn="false" name="toto">
- <param name="autosize" type="bool" value="True"/>
- <param name="window_name" type="str" value="'Forearm camera'"/>
- <remap from="image" to="/forearm/image_color"/>
- </node>
-</launch>
Modified: pkg/trunk/drivers/cam/camera_focus/manifest.xml
===================================================================
--- pkg/trunk/drivers/cam/camera_focus/manifest.xml 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/drivers/cam/camera_focus/manifest.xml 2009-08-28 22:57:28 UTC (rev 23301)
@@ -7,7 +7,7 @@
<license>BSD</license>
<review status="unreviewed" notes=""/>
<url>http://pr.willowgarage.com/wiki/camera_focus</url>
- <depend package="forearm_cam"/>
+ <depend package="wge100_camera"/>
<depend package="dcam"/>
<rosdepend name="gnuplot"/>
</package>
Copied: pkg/trunk/drivers/cam/camera_focus/wge100_camera_focus.launch (from rev 23277, pkg/trunk/drivers/cam/camera_focus/forearm_cam_focus.launch)
===================================================================
--- pkg/trunk/drivers/cam/camera_focus/wge100_camera_focus.launch (rev 0)
+++ pkg/trunk/drivers/cam/camera_focus/wge100_camera_focus.launch 2009-08-28 22:57:28 UTC (rev 23301)
@@ -0,0 +1,31 @@
+<launch>
+ <group ns="forearm">
+ <param name="if_name" type="str" value="eth2"/>
+ <param name="ip_address" type="str" value="192.168.202.2"/>
+ <param name="serial_number" type="int" value="-1"/>
+ <param name="video_mode" type="str" value="640x480x12.5"/>
+ <!--param name="frame_id" type="str" value="???"/-->
+ <param name="do_colorize" type="bool" value="True"/>
+ <param name="do_rectify" type="bool" value="True"/>
+ <param name="ext_trigger" type="bool" value="False"/>
+ <param name="trigger_controller" type="string" value=""/>
+ <param name="gain" type="int" value="64" />
+ <param name="exposure" type="double" value="0.020" />
+ </group>
+ <node name="forearm" pkg="wge100_camera" type="forearm_node" respawn="false" output="screen"/>
+ <node name="forearm_focus" pkg="camera_focus" type="focus" respawn="false" output="screen">
+ <remap from="image" to="forearm/image_raw"/>
+ <param name="startx" type="int" value="160"/>
+ <param name="starty" type="int" value="120"/>
+ <param name="endx" type="int" value="420"/>
+ <param name="endy" type="int" value="280"/>
+ </node>
+ <node name="forearm_proc" pkg="stereo_image_proc" type="imageproc" respawn="false" output="screen">
+ <remap from="camera" to="forearm"/>
+ </node>
+ <node pkg="image_view" type="image_view" respawn="false" name="toto">
+ <param name="autosize" type="bool" value="True"/>
+ <param name="window_name" type="str" value="'Forearm camera'"/>
+ <remap from="image" to="/forearm/image_color"/>
+ </node>
+</launch>
Modified: pkg/trunk/drivers/cam/camera_trigger_test/four_cams.launch
===================================================================
--- pkg/trunk/drivers/cam/camera_trigger_test/four_cams.launch 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/drivers/cam/camera_trigger_test/four_cams.launch 2009-08-28 22:57:28 UTC (rev 23301)
@@ -12,7 +12,7 @@
<param name="auto_exposure" type="bool" value="False" />
<param name="exposure" type="double" value="0.0001" />
</group>
- <node name="fc1" pkg="forearm_cam" type="forearm_node" respawn="false" output="screen"/>
+ <node name="fc1" pkg="wge100_camera" type="forearm_node" respawn="false" output="screen"/>
<group ns="fc2">
<param name="camera_url" type="str" value="serial://13"/>
@@ -27,7 +27,7 @@
<param name="auto_exposure" type="bool" value="False" />
<param name="exposure" type="double" value="0.0001" />
</group>
- <node name="fc2" pkg="forearm_cam" type="forearm_node" respawn="false" output="screen"/>
+ <node name="fc2" pkg="wge100_camera" type="forearm_node" respawn="false" output="screen"/>
<group ns="fc3">
<param name="camera_url" type="str" value="serial://14"/>
@@ -42,7 +42,7 @@
<param name="auto_exposure" type="bool" value="False" />
<param name="exposure" type="double" value="0.0001" />
</group>
- <node name="fc3" pkg="forearm_cam" type="forearm_node" respawn="false" output="screen"/>
+ <node name="fc3" pkg="wge100_camera" type="forearm_node" respawn="false" output="screen"/>
<group ns="fc4">
<param name="camera_url" type="str" value="serial://15"/>
@@ -57,7 +57,7 @@
<param name="auto_exposure" type="bool" value="False" />
<param name="exposure" type="double" value="0.0001" />
</group>
- <node name="fc4" pkg="forearm_cam" type="forearm_node" respawn="false" output="screen"/>
+ <node name="fc4" pkg="wge100_camera" type="forearm_node" respawn="false" output="screen"/>
<!--node name="fp1" pkg="stereo_image_proc" type="imageproc" respawn="false" output="screen">
<remap from="camera" to="fc1"/>
Modified: pkg/trunk/drivers/cam/camera_trigger_test/manifest.xml
===================================================================
--- pkg/trunk/drivers/cam/camera_trigger_test/manifest.xml 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/drivers/cam/camera_trigger_test/manifest.xml 2009-08-28 22:57:28 UTC (rev 23301)
@@ -8,7 +8,7 @@
<depend package="sensor_msgs" />
<depend package="opencv_latest" />
<depend package="diagnostic_updater" />
- <depend package="forearm_cam" />
+ <depend package="wge100_camera" />
<depend package="pr2_etherCAT" />
<depend package="realtime_tools" />
<depend package="robot_mechanism_controllers" />
Modified: pkg/trunk/drivers/cam/camera_trigger_test/scripts/mode1plot.gnuplot
===================================================================
--- pkg/trunk/drivers/cam/camera_trigger_test/scripts/mode1plot.gnuplot 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/drivers/cam/camera_trigger_test/scripts/mode1plot.gnuplot 2009-08-28 22:57:28 UTC (rev 23301)
@@ -1,7 +1,7 @@
#! /usr/bin/gnuplot
set terminal gif
set output "data/mode1out.gif"
-set title "/forearm_cam/image_raw delay"
+set title "/wge100_camera/image_raw delay"
set xlabel "time (s)"
set ylabel "intensity (A.U.)
set y2tics
Modified: pkg/trunk/drivers/cam/camera_trigger_test/scripts/runmode0.sh
===================================================================
--- pkg/trunk/drivers/cam/camera_trigger_test/scripts/runmode0.sh 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/drivers/cam/camera_trigger_test/scripts/runmode0.sh 2009-08-28 22:57:28 UTC (rev 23301)
@@ -28,7 +28,7 @@
<param name="do_colorize" type="bool" value="True"/>
<param name="do_rectify" type="bool" value="False"/>
</group>
- <node name="forearm" pkg="forearm_cam" type="forearm_node" respawn="false" output="screen"/>
+ <node name="forearm" pkg="wge100_camera" type="forearm_node" respawn="false" output="screen"/>
<!--node name="forearm_proc" pkg="stereo_image_proc" type="imageproc" respawn="false" output="screen">
<remap from="camera" to="forearm"/>
</node-->
Modified: pkg/trunk/drivers/cam/camera_trigger_test/testmode0.launch
===================================================================
--- pkg/trunk/drivers/cam/camera_trigger_test/testmode0.launch 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/drivers/cam/camera_trigger_test/testmode0.launch 2009-08-28 22:57:28 UTC (rev 23301)
@@ -13,7 +13,7 @@
<param name="do_colorize" type="bool" value="True"/>
<param name="do_rectify" type="bool" value="False"/>
</group>
- <node name="forearm" pkg="forearm_cam" type="forearm_node" respawn="false" output="screen"/>
+ <node name="forearm" pkg="wge100_camera" type="forearm_node" respawn="false" output="screen"/>
<!--node name="forearm_proc" pkg="stereo_image_proc" type="imageproc" respawn="false" output="screen">
<remap from="camera" to="forearm"/>
</node-->
Modified: pkg/trunk/drivers/cam/camera_trigger_test/testmode1.launch
===================================================================
--- pkg/trunk/drivers/cam/camera_trigger_test/testmode1.launch 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/drivers/cam/camera_trigger_test/testmode1.launch 2009-08-28 22:57:28 UTC (rev 23301)
@@ -13,7 +13,7 @@
<param name="do_colorize" type="bool" value="True"/>
<param name="do_rectify" type="bool" value="False"/>
</group>
- <node name="forearm" pkg="forearm_cam" type="forearm_node" respawn="false" output="screen"/>
+ <node name="forearm" pkg="wge100_camera" type="forearm_node" respawn="false" output="screen"/>
<!--node name="forearm_proc" pkg="stereo_image_proc" type="imageproc" respawn="false" output="screen">
<remap from="camera" to="forearm"/>
</node-->
Modified: pkg/trunk/pr2/qualification/CMakeLists.txt
===================================================================
--- pkg/trunk/pr2/qualification/CMakeLists.txt 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/pr2/qualification/CMakeLists.txt 2009-08-28 22:57:28 UTC (rev 23301)
@@ -4,4 +4,4 @@
genmsg()
gensrv()
-rospack_add_executable(tests/forearm_cam_test/led_flash_test tests/forearm_cam_test/led_flash_test.cpp)
+rospack_add_executable(tests/wge100_camera_test/led_flash_test tests/wge100_camera_test/led_flash_test.cpp)
Modified: pkg/trunk/pr2/qualification/config/configs.xml
===================================================================
--- pkg/trunk/pr2/qualification/config/configs.xml 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/pr2/qualification/config/configs.xml 2009-08-28 22:57:28 UTC (rev 23301)
@@ -64,7 +64,7 @@
file="forearm_cam_l.launch" descrip="Make Into Left Forearm" />
<config serial="6805018"
- file="forearm_cam_set_mac.launch" descrip="Set Serial Camera and MAC (permanent)" />
+ file="wge100_set_mac.launch" descrip="Set Serial Camera and MAC (permanent)" />
</configs>
Property changes on: pkg/trunk/pr2/qualification/config/wge100_camera
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/qual_test_2009_07_22/config/forearm_cam:19449-20939
Deleted: pkg/trunk/pr2/qualification/config/wge100_camera/forearm_cam_board_config.py
===================================================================
--- pkg/trunk/pr2/qualification/config/forearm_cam/forearm_cam_board_config.py 2009-08-28 20:42:19 UTC (rev 23277)
+++ pkg/trunk/pr2/qualification/config/wge100_camera/forearm_cam_board_config.py 2009-08-28 22:57:28 UTC (rev 23301)
@@ -1,114 +0,0 @@
-#!/usr/bin/python
-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2008, 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 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.
-#
-
-# Author: Blaise Gassend
-
-import roslib; roslib.load_manifest('qualification')
-import rospy
-from invent_client.invent_client import Invent;
-from forearm_cam.srv import BoardConfig
-import sys
-
-print "WARNING! This script can only be run once per camera."
-print "Make sure you enter the right barcode!"
-print
-print "Enter barcode:"
-barcode = raw_input()
-print "Preparing to configure forearm camera",barcode
-
-rospy.init_node('forearm_config')
-
-# Parse barcode to get serial number.
-if len(barcode) != 12 or not barcode.isdigit():
- print "The item id", barcode, "should be 12 numeric digits."
- exit(-1)
-if not barcode[0:7] in [ "6805018", "6805027" ]:
- print "Part number", barcode[0:7], "is not a forearm camera."
- exit(-1)
-serial = int(barcode[5:12])
-
-if serial >= 1800000 and serial <= 1800015: # First 15 cameras followed a different system
- serial = serial - 1800000
-
-url = "serial://%i"%serial
-
-print "Camera url is:", url
-
-# Get inventory password from qualification
-username = rospy.get_param('/invent/username', None)
-password = rospy.get_param('/invent/password', None)
-
-# Fail if invalid username/password
-i = Invent(username, password)
-if not i.login():
- print "Could not connect to invent."
- exit(-1)
-
-# Was this camera already put on invent with a different serial?
-# Write camera serial number to invent if it is not already there
-try:
- prevserial = i.getItemReferences(barcode)["camera_url"]
- if not prevserial in [ url, '']:
- print "This part was already stored in invent with a different serial '%s'. This should never happen."%prevserial
- exit(-1)
-except KeyError:
- prevserial = ''
- pass
-
-if prevserial != url:
- print "Writing camera_url to invent"
- i.addItemReference(barcode, "camera_url", url)
-else:
- print "camera_url already in invent"
-
-exit(-1)
-
-# Get MAC address from invent.
-i.generateWGMacaddr(barcode, "lan0")
-refs = i.getItemReferences(barcode)
-macstr = refs["lan0"]
-print "Camera MAC is:", macstr
-mac = []
-if len(macstr.rstrip("1234567890abcdefABCDEF")) != 0 or len(macstr) != 12:
- print "The MAC should be 12 hex digits."
- exit(-1)
-for i in range(0, 6):
- mac.append(int(macstr[2*i:2*i+2], 16))
-
-# Wait for service, and call it.
-print "Waiting for board_config service."
-rospy.wait_for_service('board_config', 10)
-board_config = rospy.ServiceProxy('board_config', BoardConfig)
-rslt = board_config(serial, "".join([chr(x) for x in mac]) );
-print "Result is ", rslt.success
Deleted: pkg/trunk/pr2/qualification/config/wge100_camera/set_name.py
===================================================================
--- pkg/trunk/pr2/qualification/config/forearm_cam/set_name.py 2009-08-28 20:42:19 UTC (rev 23277)
+++ pkg/trunk/pr2/qualification/config/wge100_camera/set_name.py 2009-08-28 22:57:28 UTC (rev 23301)
@@ -1,138 +0,0 @@
-#!/usr/bin/env python
-#
-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2008, 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 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.
-
-import roslib
-roslib.load_manifest('qualification')
-
-import sys
-import rospy
-from std_srvs.srv import *
-from qualification.srv import *
-import qualification.msg
-import std_msgs
-import rospy
-import subprocess
-import os
-import os.path
-import wx
-
-def getparam(name):
- val = rospy.get_param(name, None)
- if val == None:
- print "Parameter %s not set"%name
- exit(-1)
- return val
-
-# Get inventory password from qualification
-username = getparam('/invent/username')
-password = getparam('/invent/password')
-cameraname = getparam('forearm_camera_set_name/camera_name')
-cameraip = getparam('forearm_camera_set_name/camera_ip')
-progip = getparam('forearm_camera_set_name/programming_ip')
-
-# Fail if invalid username/password
-i = Invent(username, password)
-if not i.login():
- print "Could not connect to invent."
- exit(-1)
-
-# Get camera url
-try:
- prevserial = i.getItemReferences(barcode)["camera_url"]
- if prevserial == '':
- raise KeyError
-except KeyError:
- exit(-1)
-
-# Set the camera's name
-retval = system("rosrun forearm_cam set_name '%s'"%(camera_url+"@"+progip, cameraname, cameraip))
-print "Return value:", retval
-exit(-1)
-try:
- iface=rospy.get_param("~cam_interface")
-except:
- iface=None
-
-try:
- impactdir=rospy.get_param("~impactdir")
-except:
- import traceback
- traceback.print_exc()
-#if (len(sys.argv) != 2):
- #print >> sys.stderr, 'must specify impact directory (%i) args given'%len(sys.argv);
- print >> sys.stderr, 'impactdir option must indicate impact project directory';
- r.html_result = "<p>Bad arguments to load_firmware.py.</p>"
- r.text_summary = "Error in test."
- r.result = TestResultRequest.RESULT_HUMAN_REQUIRED
- print "error"
-else:
- os.chdir(impactdir);
- reprogram = True
- if check_programmed(iface):
- app = wx.PySimpleApp()
- ret = wx.MessageBox("The device is already programmed. Skip reprogramming?", "Device Programmed", wx.YES|wx.NO)
- if ret == wx.YES:
- reprogram = False
- if reprogram:
- p = subprocess.Popen(['./startimpact', '-batch', 'load_firmware.cmd'], stderr=subprocess.PIPE)
- impactout = p.communicate()[1]
-
- impactout = impactout.replace('\n','<br>')
-
- if '''INFO:iMPACT - '1': Flash was programmed successfully.''' in impactout:
- r.text_summary = "Firmware download succeeded."
- r.html_result = "<p>Test passed.</p><p>"+impactout+"</p>"
- r.result = TestResultRequest.RESULT_PASS
- print "pass"
- else:
- r.text_summary = "Firmware download failed."
- r.result = TestResultRequest.RESULT_FAIL
- r.html_result = "<p>Test Failed.</p><p>"+impactout+"</p>"
- print "fail"
- print impactout
- else:
- r.html_result = "<p>Firmware was already programmed.</p>"
- r.text_summary = "Firmware already programmed (Pass)."
- r.result = TestResultRequest.RESULT_PASS
- print "pass"
-
-
-result_service = rospy.ServiceProxy('test_result', TestResult)
-
-rospy.sleep(5);
-
-# block until the test_result service is available
-rospy.wait_for_service('test_result')
-result_service.call(r)
-
Copied: pkg/trunk/pr2/qualification/config/wge100_camera/set_name.py (from rev 23290, pkg/trunk/pr2/qualification/config/forearm_cam/set_name.py)
===================================================================
--- pkg/trunk/pr2/qualification/config/wge100_camera/set_name.py (rev 0)
+++ pkg/trunk/pr2/qualification/config/wge100_camera/set_name.py 2009-08-28 22:57:28 UTC (rev 23301)
@@ -0,0 +1,141 @@
+#!/usr/bin/env python
+#
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, 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 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.
+
+import roslib
+roslib.load_manifest('qualification')
+
+import sys
+import rospy
+from std_srvs.srv import *
+from qualification.srv import *
+import qualification.msg
+import std_msgs
+import rospy
+import subprocess
+import os
+import os.path
+import wx
+
+rospy.init("wge100_camera_set_name")
+
+def getparam(name):
+ val = rospy.get_param(name, None)
+ if val == None:
+ print "Parameter %s not set"%name
+ exit(-1)
+ return val
+
+# Get inventory password from qualification
+username = getparam('/invent/username')
+password = getparam('/invent/password')
+part = getparam('/qualification/serial')
+cameraname = getparam('camera_name')
+cameraip = getparam('camera_ip')
+progip = getparam('programming_ip')
+
+# Fail if invalid username/password
+i = Invent(username, password)
+if not i.login():
+ print "Could not connect to invent."
+ exit(-1)
+
+# Get camera url
+try:
+ prevserial = i.getItemReferences(barcode)["camera_url"]
+ if prevserial == '':
+ raise KeyError
+except KeyError:
+ exit(-1)
+
+# Set the camera's name
+retval = system("rosrun wge100_camera set_name '%s'"%(camera_url+"@"+progip, cameraname, cameraip))
+print "Return value:", retval
+exit(-1)
+try:
+ iface=rospy.get_param("~cam_interface")
+except:
+ iface=None
+
+try:
+ impactdir=rospy.get_param("~impactdir")
+except:
+ import traceback
+ traceback.print_exc()
+#if (len(sys.argv) != 2):
+ #print >> sys.stderr, 'must specify impact directory (%i) args given'%len(sys.argv);
+ print >> sys.stderr, 'impactdir option must indicate impact project directory';
+ r.html_result = "<p>Bad arguments to load_firmware.py.</p>"
+ r.text_summary = "Error in test."
+ r.result = TestResultRequest.RESULT_HUMAN_REQUIRED
+ print "error"
+else:
+ os.chdir(impactdir);
+ reprogram = True
+ if check_programmed(iface):
+ app = wx.PySimpleApp()
+ ret = wx.MessageBox("The device is already programmed. Skip reprogramming?", "Device Programmed", wx.YES|wx.NO)
+ if ret == wx.YES:
+ reprogram = False
+ if reprogram:
+ p = subprocess.Popen(['./startimpact', '-batch', 'load_firmware.cmd'], stderr=subprocess.PIPE)
+ impactout = p.communicate()[1]
+
+ impactout = impactout.replace('\n','<br>')
+
+ if '''INFO:iMPACT - '1': Flash was programmed successfully.''' in impactout:
+ r.text_summary = "Firmware download succeeded."
+ r.html_result = "<p>Test passed.</p><p>"+impactout+"</p>"
+ r.result = TestResultRequest.RESULT_PASS
+ print "pass"
+ else:
+ r.text_summary = "Firmware download failed."
+ r.result = TestResultRequest.RESULT_FAIL
+ r.html_result = "<p>Test Failed.</p><p>"+impactout+"</p>"
+ print "fail"
+ print impactout
+ else:
+ r.html_result = "<p>Firmware was already programmed.</p>"
+ r.text_summary = "Firmware already programmed (Pass)."
+ r.result = TestResultRequest.RESULT_PASS
+ print "pass"
+
+
+result_service = rospy.ServiceProxy('test_result', TestResult)
+
+rospy.sleep(5);
+
+# block until the test_result service is available
+rospy.wait_for_service('test_result')
+result_service.call(r)
+
Copied: pkg/trunk/pr2/qualification/config/wge100_camera/wge100_camera_board_config.py (from rev 23277, pkg/trunk/pr2/qualification/config/forearm_cam/forearm_cam_board_config.py)
===================================================================
--- pkg/trunk/pr2/qualification/config/wge100_camera/wge100_camera_board_config.py (rev 0)
+++ pkg/trunk/pr2/qualification/config/wge100_camera/wge100_camera_board_config.py 2009-08-28 22:57:28 UTC (rev 23301)
@@ -0,0 +1,114 @@
+#!/usr/bin/python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, 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 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.
+#
+
+# Author: Blaise Gassend
+
+import roslib; roslib.load_manifest('qualification')
+import rospy
+from invent_client.invent_client import Invent;
+from wge100_camera.srv import BoardConfig
+import sys
+
+print "WARNING! This script can only be run once per camera."
+print "Make sure you enter the right barcode!"
+print
+print "Enter barcode:"
+barcode = raw_input()
+print "Preparing to configure forearm camera",barcode
+
+rospy.init_node('forearm_config')
+
+# Parse barcode to get serial number.
+if len(barcode) != 12 or not barcode.isdigit():
+ print "The item id", barcode, "should be 12 numeric digits."
+ exit(-1)
+if not barcode[0:7] in [ "6805018", "6805027" ]:
+ print "Part number", barcode[0:7], "is not a forearm camera."
+ exit(-1)
+serial = int(barcode[5:12])
+
+if serial >= 1800000 and serial <= 1800015: # First 15 cameras followed a different system
+ serial = serial - 1800000
+
+url = "serial://%i"%serial
+
+print "Camera url is:", url
+
+# Get inventory password from qualification
+username = rospy.get_param('/invent/username', None)
+password = rospy.get_param('/invent/password', None)
+
+# Fail if invalid username/password
+i = Invent(username, password)
+if not i.login():
+ print "Could not connect to invent."
+ exit(-1)
+
+# Was this camera already put on invent with a different serial?
+# Write camera serial number to invent if it is not already there
+try:
+ prevserial = i.getItemReferences(barcode)["camera_url"]
+ if not prevserial in [ url, '']:
+ print "This part was already stored in invent with a different serial '%s'. This should never happen."%prevserial
+ exit(-1)
+except KeyError:
+ prevserial = ''
+ pass
+
+if prevserial != url:
+ print "Writing camera_url to invent"
+ i.addItemReference(barcode, "camera_url", url)
+else:
+ print "camera_url already in invent"
+
+exit(-1)
+
+# Get MAC address from invent.
+i.generateWGMacaddr(barcode, "lan0")
+refs = i.getItemReferences(barcode)
+macstr = refs["lan0"]
+print "Camera MAC is:", macstr
+mac = []
+if len(macstr.rstrip("1234567890abcdefABCDEF")) != 0 or len(macstr) != 12:
+ print "The MAC should be 12 hex digits."
+ exit(-1)
+for i in range(0, 6):
+ mac.append(int(macstr[2*i:2*i+2], 16))
+
+# Wait for service, and call it.
+print "Waiting for board_config service."
+rospy.wait_for_service('board_config', 10)
+board_config = rospy.ServiceProxy('board_config', BoardConfig)
+rslt = board_config(serial, "".join([chr(x) for x in mac]) );
+print "Result is ", rslt.success
Modified: pkg/trunk/pr2/qualification/manifest.xml
===================================================================
--- pkg/trunk/pr2/qualification/manifest.xml 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/pr2/qualification/manifest.xml 2009-08-28 22:57:28 UTC (rev 23301)
@@ -20,7 +20,7 @@
<depend package="pr2_head_cart" />
<depend package="invent_client" />
<depend package="roslaunch_caller" />
- <depend package="forearm_cam" />
+ <depend package="wge100_camera" />
<depend package="opencv_latest" />
<depend package="rxtools" />
<depend package="realtime_tools" />
Modified: pkg/trunk/pr2/qualification/tests/tests.xml
===================================================================
--- pkg/trunk/pr2/qualification/tests/tests.xml 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/pr2/qualification/tests/tests.xml 2009-08-28 22:57:28 UTC (rev 23301)
@@ -43,7 +43,7 @@
<!-- Forearm camera tests -->
<test serial="6805018"
- file="forearm_cam_test/test.xml" descrip="Forearm Camera Test" />
+ file="wge100_camera_test/test.xml" descrip="Forearm Camera Test" />
<!-- Special tests -->
<test serial="faketes"
Property changes on: pkg/trunk/pr2/qualification/tests/wge100_camera_test
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/qual_test_2009_07_22/tests/forearm_cam_test:19449-20939
Modified: pkg/trunk/pr2/qualification/tests/wge100_camera_test/ethercat.launch
===================================================================
--- pkg/trunk/pr2/qualification/tests/forearm_cam_test/ethercat.launch 2009-08-28 20:42:19 UTC (rev 23277)
+++ pkg/trunk/pr2/qualification/tests/wge100_camera_test/ethercat.launch 2009-08-28 22:57:28 UTC (rev 23301)
@@ -1,15 +1,15 @@
<launch>
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find qualification)/tests/forearm_cam_test/test_configuration.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find qualification)/tests/wge100_camera_test/test_configuration.xml'" />
<!-- Spwns the controllers -->
<node pkg="mechanism_control" type="spawner.py" output="screen" args="trig_controller led_controller" />
<group ns="trig_controller">
<param name="type" type="string" value="TriggerController" />
- <param name="actuator" type="string" value="forearm_cam_qual_trig" />
+ <param name="actuator" type="string" value="wge100_camera_qual_trig" />
</group>
<group ns="led_controller">
<param name="type" type="string" value="TriggerController" />
- <param name="actuator" type="string" value="forearm_cam_qual_led" />
+ <param name="actuator" type="string" value="wge100_camera_qual_led" />
</group>
<!-- Loads realtime machine and PR2_etherCAT -->
Modified: pkg/trunk/pr2/qualification/tests/wge100_camera_test/led_flash_test.launch
===================================================================
--- pkg/trunk/pr2/qualification/tests/forearm_cam_test/led_flash_test.launch 2009-08-28 20:42:19 UTC (rev 23277)
+++ pkg/trunk/pr2/qualification/tests/wge100_camera_test/led_flash_test.launch 2009-08-28 22:57:28 UTC (rev 23301)
@@ -1,5 +1,5 @@
<launch>
- <include file="$(find qualification)/tests/forearm_cam_test/ethercat.launch" />
+ <include file="$(find qualification)/tests/wge100_camera_test/ethercat.launch" />
<group ns="forearm">
<param name="camera_url" type="str" value="any://@192.168.202.2#eth2"/>
@@ -15,7 +15,7 @@
<param name="auto_exposure" type="bool" value="False" />
<param name="exposure" type="double" value="0.010" />
</group>
- <node name="forearm" pkg="forearm_cam" type="forearm_node" respawn="false" output="screen"/>
+ <node name="forearm" pkg="wge100_camera" type="forearm_node" respawn="false" output="screen"/>
<node name="led_flash_test" pkg="qualification" type="led_flash_test" respawn="false" output="screen">
<param name="rate" type="double" value="40.13"/>
Modified: pkg/trunk/pr2/qualification/tests/wge100_camera_test/load_firmware.py
===================================================================
--- pkg/trunk/pr2/qualification/tests/forearm_cam_test/load_firmware.py 2009-08-28 20:42:19 UTC (rev 23277)
+++ pkg/trunk/pr2/qualification/tests/wge100_camera_test/load_firmware.py 2009-08-28 22:57:28 UTC (rev 23301)
@@ -48,7 +48,7 @@
import wx
def check_programmed(iface):
- args = ['rosrun', 'forearm_cam', 'discover']
+ args = ['rosrun', 'wge100_camera', 'discover']
if iface != None:
args.append(iface)
p = subprocess.Popen(args, stdout=subprocess.PIPE)
Modified: pkg/trunk/pr2/qualification/tests/wge100_camera_test/load_firmware_ether.py
===================================================================
--- pkg/trunk/pr2/qualification/tests/forearm_cam_test/load_firmware_ether.py 2009-08-28 20:42:19 UTC (rev 23277)
+++ pkg/trunk/pr2/qualification/tests/wge100_camera_test/load_firmware_ether.py 2009-08-28 22:57:28 UTC (rev 23301)
@@ -68,7 +68,7 @@
else:
try:
os.chdir(impactdir);
- p = subprocess.Popen(['rosrun', 'forearm_cam', 'upload_mcs', 'default.mcs', url], stdout=subprocess.PIPE)
+ p = subprocess.Popen(['rosrun', 'wge100_camera', 'upload_mcs', 'default.mcs', url], stdout=subprocess.PIPE)
upload_mcs_out = p.communicate()[0]
except Exception, e:
upload_mcs_out = str(e)
Modified: pkg/trunk/pr2/qualification/tests/wge100_camera_test/program_firmware.launch
===================================================================
--- pkg/trunk/pr2/qualification/tests/forearm_cam_test/program_firmware.launch 2009-08-28 20:42:19 UTC (rev 23277)
+++ pkg/trunk/pr2/qualification/tests/wge100_camera_test/program_firmware.launch 2009-08-28 22:57:28 UTC (rev 23301)
@@ -1,6 +1,6 @@
<launch>
<node pkg="qualification" type="load_firmware.py">
- <param name="impactdir" value="$(find qualification)/tests/forearm_cam_test/impact"/>
+ <param name="impactdir" value="$(find qualification)/tests/wge100_camera_test/impact"/>
<param name="cam_interface" value="eth2"/>
</node>
</launch>
Modified: pkg/trunk/pr2/qualification/tests/wge100_camera_test/program_firmware_ether.launch
===================================================================
--- pkg/trunk/pr2/qualification/tests/forearm_cam_test/program_firmware_ether.launch 2009-08-28 20:42:19 UTC (rev 23277)
+++ pkg/trunk/pr2/qualification/tests/wge100_camera_test/program_firmware_ether.launch 2009-08-28 22:57:28 UTC (rev 23301)
@@ -1,6 +1,6 @@
<launch>
<node pkg="qualification" type="load_firmware_ether.py">
- <param name="impactdir" value="$(find qualification)/tests/forearm_cam_test/impact"/>
+ <param name="impactdir" value="$(find qualification)/tests/wge100_camera_test/impact"/>
<param name="url" type="str" value="any://@192.168.202.2#eth2"/>
</node>
</launch>
Modified: pkg/trunk/pr2/qualification/tests/wge100_camera_test/program_firmware_ram.launch
===================================================================
--- pkg/trunk/pr2/qualification/tests/forearm_cam_test/program_firmware_ram.launch 2009-08-28 20:42:19 UTC (rev 23277)
+++ pkg/trunk/pr2/qualification/tests/wge100_camera_test/program_firmware_ram.launch 2009-08-28 22:57:28 UTC (rev 23301)
@@ -1,5 +1,5 @@
<launch>
<node pkg="qualification" type="load_firmware_ram.py">
- <param name="impactdir" value="$(find qualification)/tests/forearm_cam_test/impact"/>
+ <param name="impactdir" value="$(find qualification)/tests/wge100_camera_test/impact"/>
</node>
</launch>
Modified: pkg/trunk/pr2/qualification/tests/wge100_camera_test/self_test_triggered.launch
===================================================================
--- pkg/trunk/pr2/qualification/tests/forearm_cam_test/self_test_triggered.launch 2009-08-28 20:42:19 UTC (rev 23277)
+++ pkg/trunk/pr2/qualification/tests/wge100_camera_test/self_test_triggered.launch 2009-08-28 22:57:28 UTC (rev 23301)
@@ -1,8 +1,8 @@
<launch>
- <include file="$(find qualification)/tests/forearm_cam_test/ethercat.launch" />
+ <include file="$(find qualification)/tests/wge100_camera_test/ethercat.launch" />
<!-- Camera -->
- <group ns="forearm_cam">
+ <group ns="wge100_camera">
<param name="camera_url" type="str" value="any://@192.168.202.2#eth2"/>
<param name="video_mode" type="str" value="640x480x30"/>
<param name="ext_trig" type="bool" value="True"/>
@@ -11,11 +11,11 @@
<param name="trig_phase" type="double" value="0"/>
<param name="exit_on_fault" type="bool" value="true"/>
</group>
- <node name="forearm_cam" pkg="forearm_cam" type="forearm_node" respawn="false" output="screen"/>
+ <node name="wge100_camera" pkg="wge100_camera" type="forearm_node" respawn="false" output="screen"/>
<!-- Self Test -->
<node pkg="qualification" type="run_selftest.py">
- <remap from="node_name" to="forearm_cam"/>
+ <remap from="node_name" to="wge100_camera"/>
</node>
</launch>
Modified: pkg/trunk/pr2/qualification/tests/wge100_camera_test/self_test_untriggered.launch
===================================================================
--- pkg/trunk/pr2/qualification/tests/forearm_cam_test/self_test_untriggered.launch 2009-08-28 20:42:19 UTC (rev 23277)
+++ pkg/trunk/pr2/qualification/tests/wge100_camera_test/self_test_untriggered.launch 2009-08-28 22:57:28 UTC (rev 23301)
@@ -1,17 +1,17 @@
<launch>
<!-- Camera -->
- <group ns="forearm_cam">
+ <group ns="wge100_camera">
<param name="camera_url" type="str" value="any://@192.168.202.2#eth2"/>
<param name="video_mode" type="str" value="640x480x30"/>
<param name="ext_trig" type="bool" value="False"/>
<param name="exit_on_fault" type="bool" value="true"/>
</group>
- <node name="forearm_cam" pkg="forearm_cam" type="forearm_node" respawn="false" output="screen"/>
+ <node name="wge100_camera" pkg="wge100_camera" type="forearm_node" respawn="false" output="screen"/>
<!-- Self Test -->
<node pkg="qualification" type="run_selftest.py">
- <remap from="node_name" to="forearm_cam"/>
+ <remap from="node_name" to="wge100_camera"/>
</node>
</launch>
Deleted: pkg/trunk/stacks/camera_drivers/camera_launch_files/forearm_cam_color.launch
===================================================================
--- pkg/trunk/stacks/camera_drivers/camera_launch_files/forearm_cam_color.launch 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/stacks/camera_drivers/camera_launch_files/forearm_cam_color.launch 2009-08-28 22:57:28 UTC (rev 23301)
@@ -1,19 +0,0 @@
-<!--
-This launch file runs processes images form the forearm_cam_demo.launch file
-in the forearm_cam package into color/rectified images.
-
-You also need to run the forearm_cam_demo.launch file to get any output as
-this launch file does not start the camera.
--->
-
-<launch>
- <!--include file="$(find forearm_cam)/forearm_cam_demo.launch" /-->
-
- <group ns="forearm_cam_demo">
- <param name="do_colorize" type="bool" value="True"/>
- <param name="do_rectify" type="bool" value="True"/>
- </group>
- <node name="forearm_proc" pkg="stereo_image_proc" type="imageproc" respawn="false" output="screen">
- <remap from="camera" to="forearm_cam_demo"/>
- </node>
-</launch>
Deleted: pkg/trunk/stacks/camera_drivers/camera_launch_files/forearm_cam_view.launch
===================================================================
--- pkg/trunk/stacks/camera_drivers/camera_launch_files/forearm_cam_view.launch 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/stacks/camera_drivers/camera_launch_files/forearm_cam_view.launch 2009-08-28 22:57:28 UTC (rev 23301)
@@ -1,16 +0,0 @@
-<!--
-This launch file runs the forearm_cam_color.launch file and a viewer
-to show the resulting color image stream.
-
-Edit forearm_cam_demo.launch in the forearm_cam package to set the camera url.
--->
-
-<launch>
- <include file="$(find camera_launch_files)/forearm_cam_color.launch" />
-
- <node pkg="image_view" type="image_view" respawn="false" name="forearm_cam_demo_viewer">
- <param name="autosize" type="bool" value="True"/>
- <param name="window_name" type="str" value="'Forearm camera'"/>
- <remap from="image" to="forearm_cam_demo/image_color"/>
- </node>
-</launch>
Modified: pkg/trunk/stacks/camera_drivers/camera_launch_files/manifest.xml
===================================================================
--- pkg/trunk/stacks/camera_drivers/camera_launch_files/manifest.xml 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/stacks/camera_drivers/camera_launch_files/manifest.xml 2009-08-28 22:57:28 UTC (rev 23301)
@@ -7,7 +7,7 @@
<license>BSD</license>
<review status="unreviewed" notes=""/>
<url>http://www.ros.org/wiki/camera_launch_files</url>
- <depend package="forearm_cam"/>
+ <depend package="wge100_camera"/>
<depend package="prosilica_camera"/>
<depend package="dcam"/>
<depend package="stereo_image_proc"/>
Copied: pkg/trunk/stacks/camera_drivers/camera_launch_files/wge100_camera_color.launch (from rev 23289, pkg/trunk/stacks/camera_drivers/camera_launch_files/forearm_cam_color.launch)
===================================================================
--- pkg/trunk/stacks/camera_drivers/camera_launch_files/wge100_camera_color.launch (rev 0)
+++ pkg/trunk/stacks/camera_drivers/camera_launch_files/wge100_camera_color.launch 2009-08-28 22:57:28 UTC (rev 23301)
@@ -0,0 +1,19 @@
+<!--
+This launch file runs processes images form the wge100_camera_demo.launch file
+in the wge100_camera package into color/rectified images.
+
+You also need to run the wge100_camera_demo.launch file to get any output as
+this launch file does not start the camera.
+-->
+
+<launch>
+ <!--include file="$(find wge100_camera)/wge100_camera_demo.launch" /-->
+
+ <group ns="wge100_camera_demo">
+ <param name="do_colorize" type="bool" value="True"/>
+ <param name="do_rectify" type="bool" value="True"/>
+ </group>
+ <node name="forearm_proc" pkg="stereo_image_proc" type="imageproc" respawn="false" output="screen">
+ <remap from="camera" to="wge100_camera_demo"/>
+ </node>
+</launch>
Copied: pkg/trunk/stacks/camera_drivers/camera_launch_files/wge100_camera_view.launch (from rev 23289, pkg/trunk/stacks/camera_drivers/camera_launch_files/forearm_cam_view.launch)
===================================================================
--- pkg/trunk/stacks/camera_drivers/camera_launch_files/wge100_camera_view.launch (rev 0)
+++ pkg/trunk/stacks/camera_drivers/camera_launch_files/wge100_camera_view.launch 2009-08-28 22:57:28 UTC (rev 23301)
@@ -0,0 +1,16 @@
+<!--
+This launch file runs the wge100_camera_color.launch file and a viewer
+to show the resulting color image stream.
+
+Edit wge100_camera_demo.launch in the wge100_camera package to set the camera url.
+-->
+
+<launch>
+ <include file="$(find camera_launch_files)/wge100_camera_color.launch" />
+
+ <node pkg="image_view" type="image_view" respawn="false" name="wge100_camera_demo_viewer">
+ <param name="autosize" type="bool" value="True"/>
+ <param name="window_name" type="str" value="'Forearm camera'"/>
+ <remap from="image" to="wge100_camera_demo/image_color"/>
+ </node>
+</launch>
Deleted: pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/forearm_cam_0x0B204113.mcs
===================================================================
--- pkg/trunk/stacks/camera_drivers/forearm_cam/firmwares/forearm_cam_0x0B204113.mcs 2009-08-28 21:38:45 UTC (rev 23289)
+++ pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/forearm_cam_0x0B204113.mcs 2009-08-28 22:57:28 UTC (rev 23301)
@@ -1,17742 +0,0 @@
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