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[Personalrobots-commit] SF.net SVN: personalrobots:[23303] pkg/trunk
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From: <stu...@us...> - 2009-08-28 23:24:33
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Revision: 23303
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23303&view=rev
Author: stuglaser
Date: 2009-08-28 23:24:22 +0000 (Fri, 28 Aug 2009)
Log Message:
-----------
Moved mechanism_controller_test package into sandbox
Added Paths:
-----------
pkg/trunk/sandbox/mechanism_control_test/
pkg/trunk/sandbox/mechanism_control_test/CMakeLists.txt
pkg/trunk/sandbox/mechanism_control_test/Makefile
pkg/trunk/sandbox/mechanism_control_test/include/
pkg/trunk/sandbox/mechanism_control_test/include/mechanism_controller_test/
pkg/trunk/sandbox/mechanism_control_test/include/mechanism_controller_test/null_hardware.h
pkg/trunk/sandbox/mechanism_control_test/manifest.xml
pkg/trunk/sandbox/mechanism_control_test/robot.xml
pkg/trunk/sandbox/mechanism_control_test/src/
pkg/trunk/sandbox/mechanism_control_test/src/mechanism_controller_test.cpp
pkg/trunk/sandbox/mechanism_control_test/src/null_hardware.cpp
Removed Paths:
-------------
pkg/trunk/controllers/mechanism_controller_test/CMakeLists.txt
pkg/trunk/controllers/mechanism_controller_test/Makefile
pkg/trunk/controllers/mechanism_controller_test/include/mechanism_controller_test/null_hardware.h
pkg/trunk/controllers/mechanism_controller_test/manifest.xml
pkg/trunk/controllers/mechanism_controller_test/robot.xml
pkg/trunk/controllers/mechanism_controller_test/src/mechanism_controller_test.cpp
pkg/trunk/controllers/mechanism_controller_test/src/null_hardware.cpp
Deleted: pkg/trunk/controllers/mechanism_controller_test/CMakeLists.txt
===================================================================
--- pkg/trunk/controllers/mechanism_controller_test/CMakeLists.txt 2009-08-28 23:14:21 UTC (rev 23302)
+++ pkg/trunk/controllers/mechanism_controller_test/CMakeLists.txt 2009-08-28 23:24:22 UTC (rev 23303)
@@ -1,8 +0,0 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-set(ROS_BUILD_TYPE Debug)
-rospack(mechanism_controller_test)
-
-rospack_add_boost_directories()
-
-rospack_add_executable(bin/mechanism_controller_test src/mechanism_controller_test.cpp src/null_hardware.cpp)
Deleted: pkg/trunk/controllers/mechanism_controller_test/Makefile
===================================================================
--- pkg/trunk/controllers/mechanism_controller_test/Makefile 2009-08-28 23:14:21 UTC (rev 23302)
+++ pkg/trunk/controllers/mechanism_controller_test/Makefile 2009-08-28 23:24:22 UTC (rev 23303)
@@ -1 +0,0 @@
-include $(shell rospack find mk)/cmake.mk
Deleted: pkg/trunk/controllers/mechanism_controller_test/include/mechanism_controller_test/null_hardware.h
===================================================================
--- pkg/trunk/controllers/mechanism_controller_test/include/mechanism_controller_test/null_hardware.h 2009-08-28 23:14:21 UTC (rev 23302)
+++ pkg/trunk/controllers/mechanism_controller_test/include/mechanism_controller_test/null_hardware.h 2009-08-28 23:24:22 UTC (rev 23303)
@@ -1,29 +0,0 @@
-#ifndef NULL_HARDWARE_H
-#define NULL_HARDWARE_H
-
-#include <hardware_interface/hardware_interface.h>
-#include <tinyxml/tinyxml.h>
-
-class NullHardware
-{
-public:
- /*!
- * \brief Constructor
- */
- NullHardware();
-
- /*!
- * \brief Destructor
- */
- ~NullHardware();
-
- void update();
-
- void initXml(TiXmlElement *config);
-
- HardwareInterface *hw_;
-
-private:
-};
-
-#endif
Deleted: pkg/trunk/controllers/mechanism_controller_test/manifest.xml
===================================================================
--- pkg/trunk/controllers/mechanism_controller_test/manifest.xml 2009-08-28 23:14:21 UTC (rev 23302)
+++ pkg/trunk/controllers/mechanism_controller_test/manifest.xml 2009-08-28 23:24:22 UTC (rev 23303)
@@ -1,20 +0,0 @@
-<package>
- <description brief='PR2 Controller Test Harness'>
- Test harness for profiling and debugging controllers from the software perspective without hardware.
- </description>
- <author>Eric Berger</author>
- <license>BSD</license>
- <review status="unreviewed" notes=""/>
- <depend package="roscpp" />
- <depend package="pr2_hardware_interface" />
- <depend package="pr2_mechanism_control" />
-
- <!-- The controllers packages for testing -->
- <!--<depend package="robot_mechanism_controllers" />-->
-
- <url>http://pr.willowgarage.com</url>
- <repository>http://pr.willowgarage.com/repos</repository>
- <export>
- <cpp cflags='-I${prefix}/include'/>
- </export>
-</package>
Deleted: pkg/trunk/controllers/mechanism_controller_test/robot.xml
===================================================================
--- pkg/trunk/controllers/mechanism_controller_test/robot.xml 2009-08-28 23:14:21 UTC (rev 23302)
+++ pkg/trunk/controllers/mechanism_controller_test/robot.xml 2009-08-28 23:24:22 UTC (rev 23303)
@@ -1,3265 +0,0 @@
-<?xml version="1.0" ?><robot name="pr2">
-
- <!-- declare the path where all models/textures/materials are stored -->
- <resource location="/u/berger/ros/ros-pkg/robot_descriptions/pr2/pr2_defs/meshes"/>
-
-
-
-
-
-
-
- <map flag="gazebo" name="sensor">
- <verbatim key="mechanism_control_simulation">
- <!-- PR2_ACTARRAY -->
- <controller:gazebo_mechanism_control name="gazebo_mechanism_control" plugin="libgazebo_mechanism_control.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <interface:audio name="gazebo_mechanism_control_dummy_iface"/>
- </controller:gazebo_mechanism_control>
-
- <!-- battery controls -->
- <controller:gazebo_battery name="gazebo_battery_controller" plugin="libgazebo_battery.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1.0</updateRate>
- <timeout>5</timeout>
- <default_consumption_rate>-10.0</default_consumption_rate> <!-- -5 is the magic number, need to be smaller than that CM -->
- <diagnostic_rate>1.0</diagnostic_rate>
- <battery_state_rate>10.0</battery_state_rate> <!-- does nothing for now-->
- <full_charge_energy>1200000.0</full_charge_energy>
- <diagnosticTopicName>diagnostic</diagnosticTopicName>
- <stateTopicName>battery_state</stateTopicName>
- <selfTestServiceName>self_test</selfTestServiceName>
- <interface:audio name="battery_dummy_interface"/>
- </controller:gazebo_battery>
-
- <controller:ros_time name="ros_time" plugin="libros_time.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <interface:audio name="dummy_ros_time_iface_should_not_be_here"/>
- </controller:ros_time>
-
- </verbatim>
-</map>
-
-
- <joint name="base_joint" type="planar"/><link name="base_link">
- <parent name="world"/>
- <origin rpy="0 0 0" xyz="0 0 0.051"/>
- <joint name="base_joint"/>
-
- <inertial>
- <mass value="70.750964"/>
- <com xyz="0 0 0"/>
- <inertia ixx="5.652232699207" ixy="-0.009719934438" ixz="1.293988226423" iyy="5.669473158652" iyz="-0.007379583694" izz="3.683196351726"/>
- </inertial>
-
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <elem key="material" value="Gazebo/Green"/>
- </map>
- <geometry name="base_visual">
- <mesh filename="base"/>
- </geometry>
- </visual>
-
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.13"/>
- <geometry name="base_collision">
- <box size="0.65 0.65 0.26"/>
- </geometry>
- </collision>
- <map flag="gazebo" name="bumper_sensor">
- <verbatim key="sensor_base_bumper">
- <sensor:contact name="base_contact_sensor">
- <geom>base_collision</geom>
- <updateRate>100.0</updateRate>
- <controller:ros_bumper name="base_ros_bumper_controller" plugin="libros_bumper.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>100.0</updateRate>
- <bumperTopicName>base_bumper</bumperTopicName>
- <interface:bumper name="base_bumper_iface"/>
- </controller:ros_bumper>
- </sensor:contact>
- </verbatim>
- </map>
- </link><joint name="base_laser_joint" type="fixed">
- <axis xyz="0 1 0"/>
- <anchor xyz="0 0 0"/>
- </joint><sensor name="base_laser" type="laser">
- <calibration filename="calib_filename"/>
- <parent name="base_link"/>
- <origin rpy="0 0 0" xyz="0.275 0 0.132"/>
- <joint name="base_laser_joint"/>
- <inertial>
- <mass value="1.0"/>
- <com xyz="0 0 0"/>
- <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
- </inertial>
-
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0.12"/>
- <map flag="gazebo" name="gazebo_material">
- <elem key="material" value="Gazebo/PioneerBody"/>
- </map>
- <geometry name="base_laser_visual">
- <mesh scale="0.001 0.001 0.001"/>
- </geometry>
- </visual>
-
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.12"/>
- <geometry name="base_laser_collision">
- <box size=".001 .001 .001"/>
- </geometry>
- </collision>
-
- <map flag="gazebo" name="sensor">
- <verbatim key="sensor_base_laser_ray">
- <sensor:ray name="base_laser">
- <rayCount>640</rayCount>
- <rangeCount>640</rangeCount>
- <laserCount>1</laserCount>
- <origin>0.0 0.0 0.17</origin> <!-- FIXME: for verbatim, adjust this number according to base_laser_center_box_center_offset_z -->
- <displayRays>false</displayRays>
-
- <minAngle>-100</minAngle> <!-- scans own arms if -135~+135 -->
- <maxAngle>100</maxAngle>
-
- <minRange>0.05</minRange>
- <maxRange>10.0</maxRange>
- <updateRate>20.0</updateRate>
- <controller:ros_laser name="ros_base_laser_controller" plugin="libros_laser.so">
- <gaussianNoise>0.005</gaussianNoise>
- <alwaysOn>true</alwaysOn>
- <updateRate>20.0</updateRate>
- <topicName>base_scan</topicName>
- <frameName>base_laser</frameName>
- <interface:laser name="ros_base_laser_iface"/>
- </controller:ros_laser>
- </sensor:ray>
- </verbatim>
- </map>
- </sensor><joint name="fl_caster_rotation_joint" type="revolute">
- <axis xyz="0 0 1"/>
- <anchor xyz="0 0 0"/>
- <limit effort="100" k_velocity="10" velocity="100"/>
- <calibration values="1.5 -1"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint><link name="fl_caster_rotation_link">
- <parent name="base_link"/>
- <origin rpy="0 0 0" xyz="0.2225 0.2225 0.0282"/>
- <joint name="fl_caster_rotation_joint"/>
-
- <inertial>
- <mass value="3.473082"/>
- <com xyz="0 0 0"/>
- <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
- </inertial>
-
- <visual>
- <origin rpy="0 0 0 " xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <elem key="material" value="Gazebo/Green"/>
- </map>
- <geometry name="fl_caster_rotation_visual">
- <mesh filename="caster" scale="1 1 1"/>
- </geometry>
- </visual>
-
- <collision>
- <origin rpy="0.0 0.0 0.0 " xyz="0 0 0.07"/>
- <geometry name="fl_caster_rotation_collision">
- <box size="0.192 0.164 0.013"/>
- </geometry>
- </collision>
- </link><transmission name="fl_caster_rotation_trans" type="SimpleTransmission">
- <actuator name="fl_caster_rotation_motor"/>
- <joint name="fl_caster_rotation_joint"/>
- <mechanicalReduction>-75.05</mechanicalReduction>
- </transmission><joint name="fl_caster_l_wheel_joint" type="revolute">
- <axis xyz="0 1 0"/>
- <anchor xyz="0 0 0"/>
- <limit effort="100" k_velocity="10" velocity="100"/>
- <calibration values="1.5 -1"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint><link name="fl_caster_l_wheel_link">
- <parent name="fl_caster_rotation_link"/>
- <joint name="fl_caster_l_wheel_joint"/>
- <origin rpy="0 0 0" xyz="0 0.049 0"/>
- <inertial>
- <mass value="0.44036"/> <!-- check jmh 20081205 -->
- <com xyz=" 0 0 0 "/>
- <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <!-- TODO should be different for left and right wheel-->
- <elem key="material" value="PR2/fl_caster_l_wheel_link"/>
- </map>
- <geometry name="fl_caster_l_wheel_visual">
- <mesh filename="wheel"/>
- </geometry>
-
- </visual>
- <collision>
- <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
- <geometry name="fl_caster_l_wheel_collision">
- <cylinder length="0.03" radius="0.079"/>
- </geometry>
- <map flag="gazebo" name="friction_coefficients">
- <elem key="mu1" value="50.0"/>
- <elem key="mu2" value="50.0"/>
- <elem key="kp" value="1000000.0"/>
- <elem key="kd" value="1.0"/>
- </map>
- </collision>
- <map flag="gazebo" name="fl_caster_l_wheel_sensor">
- <verbatim key="fl_caster_l_wheel_bumper_sensor">
- <sensor:contact name="fl_caster_l_wheel_contact_sensor">
- <geom>fl_caster_l_wheel_collision</geom>
- <updateRate>1000.0</updateRate>
- <controller:ros_bumper name="fl_caster_l_wheel_ros_bumper_controller" plugin="libros_bumper.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <bumperTopicName>fl_caster_l_wheel_bumper</bumperTopicName>
- <interface:bumper name="fl_caster_l_wheel_ros_bumper_iface"/>
- </controller:ros_bumper>
- </sensor:contact>
- </verbatim>
- </map>
- </link><transmission name="fl_caster_l_wheel_trans" type="SimpleTransmission">
- <actuator name="fl_caster_l_wheel_motor"/>
- <joint name="fl_caster_l_wheel_joint"/>
- <mechanicalReduction>75.05</mechanicalReduction>
- </transmission><joint name="fl_caster_r_wheel_joint" type="revolute">
- <axis xyz="0 1 0"/>
- <anchor xyz="0 0 0"/>
- <limit effort="100" k_velocity="10" velocity="100"/>
- <calibration values="1.5 -1"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint><link name="fl_caster_r_wheel_link">
- <parent name="fl_caster_rotation_link"/>
- <joint name="fl_caster_r_wheel_joint"/>
- <origin rpy="0 0 0" xyz="0 -0.049 0"/>
- <inertial>
- <mass value="0.44036"/> <!-- check jmh 20081205 -->
- <com xyz=" 0 0 0 "/>
- <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <!-- TODO should be different for left and right wheel-->
- <elem key="material" value="PR2/fl_caster_r_wheel_link"/>
- </map>
- <geometry name="fl_caster_r_wheel_visual">
- <mesh filename="wheel"/>
- </geometry>
-
- </visual>
- <collision>
- <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
- <geometry name="fl_caster_r_wheel_collision">
- <cylinder length="0.03" radius="0.079"/>
- </geometry>
- <map flag="gazebo" name="friction_coefficients">
- <elem key="mu1" value="50.0"/>
- <elem key="mu2" value="50.0"/>
- <elem key="kp" value="1000000.0"/>
- <elem key="kd" value="1.0"/>
- </map>
- </collision>
- <map flag="gazebo" name="fl_caster_r_wheel_sensor">
- <verbatim key="fl_caster_r_wheel_bumper_sensor">
- <sensor:contact name="fl_caster_r_wheel_contact_sensor">
- <geom>fl_caster_r_wheel_collision</geom>
- <updateRate>1000.0</updateRate>
- <controller:ros_bumper name="fl_caster_r_wheel_ros_bumper_controller" plugin="libros_bumper.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <bumperTopicName>fl_caster_r_wheel_bumper</bumperTopicName>
- <interface:bumper name="fl_caster_r_wheel_ros_bumper_iface"/>
- </controller:ros_bumper>
- </sensor:contact>
- </verbatim>
- </map>
- </link><transmission name="fl_caster_r_wheel_trans" type="SimpleTransmission">
- <actuator name="fl_caster_r_wheel_motor"/>
- <joint name="fl_caster_r_wheel_joint"/>
- <mechanicalReduction>-75.05</mechanicalReduction>
- </transmission><joint name="fr_caster_rotation_joint" type="revolute">
- <axis xyz="0 0 1"/>
- <anchor xyz="0 0 0"/>
- <limit effort="100" k_velocity="10" velocity="100"/>
- <calibration values="1.5 -1"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint><link name="fr_caster_rotation_link">
- <parent name="base_link"/>
- <origin rpy="0 0 0" xyz="0.2225 -0.2225 0.0282"/>
- <joint name="fr_caster_rotation_joint"/>
-
- <inertial>
- <mass value="3.473082"/>
- <com xyz="0 0 0"/>
- <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
- </inertial>
-
- <visual>
- <origin rpy="0 0 0 " xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <elem key="material" value="Gazebo/Green"/>
- </map>
- <geometry name="fr_caster_rotation_visual">
- <mesh filename="caster" scale="1 1 1"/>
- </geometry>
- </visual>
-
- <collision>
- <origin rpy="0.0 0.0 0.0 " xyz="0 0 0.07"/>
- <geometry name="fr_caster_rotation_collision">
- <box size="0.192 0.164 0.013"/>
- </geometry>
- </collision>
- </link><transmission name="fr_caster_rotation_trans" type="SimpleTransmission">
- <actuator name="fr_caster_rotation_motor"/>
- <joint name="fr_caster_rotation_joint"/>
- <mechanicalReduction>-75.05</mechanicalReduction>
- </transmission><joint name="fr_caster_l_wheel_joint" type="revolute">
- <axis xyz="0 1 0"/>
- <anchor xyz="0 0 0"/>
- <limit effort="100" k_velocity="10" velocity="100"/>
- <calibration values="1.5 -1"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint><link name="fr_caster_l_wheel_link">
- <parent name="fr_caster_rotation_link"/>
- <joint name="fr_caster_l_wheel_joint"/>
- <origin rpy="0 0 0" xyz="0 0.049 0"/>
- <inertial>
- <mass value="0.44036"/> <!-- check jmh 20081205 -->
- <com xyz=" 0 0 0 "/>
- <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <!-- TODO should be different for left and right wheel-->
- <elem key="material" value="PR2/fr_caster_l_wheel_link"/>
- </map>
- <geometry name="fr_caster_l_wheel_visual">
- <mesh filename="wheel"/>
- </geometry>
-
- </visual>
- <collision>
- <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
- <geometry name="fr_caster_l_wheel_collision">
- <cylinder length="0.03" radius="0.079"/>
- </geometry>
- <map flag="gazebo" name="friction_coefficients">
- <elem key="mu1" value="50.0"/>
- <elem key="mu2" value="50.0"/>
- <elem key="kp" value="1000000.0"/>
- <elem key="kd" value="1.0"/>
- </map>
- </collision>
- <map flag="gazebo" name="fr_caster_l_wheel_sensor">
- <verbatim key="fr_caster_l_wheel_bumper_sensor">
- <sensor:contact name="fr_caster_l_wheel_contact_sensor">
- <geom>fr_caster_l_wheel_collision</geom>
- <updateRate>1000.0</updateRate>
- <controller:ros_bumper name="fr_caster_l_wheel_ros_bumper_controller" plugin="libros_bumper.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <bumperTopicName>fr_caster_l_wheel_bumper</bumperTopicName>
- <interface:bumper name="fr_caster_l_wheel_ros_bumper_iface"/>
- </controller:ros_bumper>
- </sensor:contact>
- </verbatim>
- </map>
- </link><transmission name="fr_caster_l_wheel_trans" type="SimpleTransmission">
- <actuator name="fr_caster_l_wheel_motor"/>
- <joint name="fr_caster_l_wheel_joint"/>
- <mechanicalReduction>75.05</mechanicalReduction>
- </transmission><joint name="fr_caster_r_wheel_joint" type="revolute">
- <axis xyz="0 1 0"/>
- <anchor xyz="0 0 0"/>
- <limit effort="100" k_velocity="10" velocity="100"/>
- <calibration values="1.5 -1"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint><link name="fr_caster_r_wheel_link">
- <parent name="fr_caster_rotation_link"/>
- <joint name="fr_caster_r_wheel_joint"/>
- <origin rpy="0 0 0" xyz="0 -0.049 0"/>
- <inertial>
- <mass value="0.44036"/> <!-- check jmh 20081205 -->
- <com xyz=" 0 0 0 "/>
- <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <!-- TODO should be different for left and right wheel-->
- <elem key="material" value="PR2/fr_caster_r_wheel_link"/>
- </map>
- <geometry name="fr_caster_r_wheel_visual">
- <mesh filename="wheel"/>
- </geometry>
-
- </visual>
- <collision>
- <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
- <geometry name="fr_caster_r_wheel_collision">
- <cylinder length="0.03" radius="0.079"/>
- </geometry>
- <map flag="gazebo" name="friction_coefficients">
- <elem key="mu1" value="50.0"/>
- <elem key="mu2" value="50.0"/>
- <elem key="kp" value="1000000.0"/>
- <elem key="kd" value="1.0"/>
- </map>
- </collision>
- <map flag="gazebo" name="fr_caster_r_wheel_sensor">
- <verbatim key="fr_caster_r_wheel_bumper_sensor">
- <sensor:contact name="fr_caster_r_wheel_contact_sensor">
- <geom>fr_caster_r_wheel_collision</geom>
- <updateRate>1000.0</updateRate>
- <controller:ros_bumper name="fr_caster_r_wheel_ros_bumper_controller" plugin="libros_bumper.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <bumperTopicName>fr_caster_r_wheel_bumper</bumperTopicName>
- <interface:bumper name="fr_caster_r_wheel_ros_bumper_iface"/>
- </controller:ros_bumper>
- </sensor:contact>
- </verbatim>
- </map>
- </link><transmission name="fr_caster_r_wheel_trans" type="SimpleTransmission">
- <actuator name="fr_caster_r_wheel_motor"/>
- <joint name="fr_caster_r_wheel_joint"/>
- <mechanicalReduction>-75.05</mechanicalReduction>
- </transmission><joint name="bl_caster_rotation_joint" type="revolute">
- <axis xyz="0 0 1"/>
- <anchor xyz="0 0 0"/>
- <limit effort="100" k_velocity="10" velocity="100"/>
- <calibration values="1.5 -1"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint><link name="bl_caster_rotation_link">
- <parent name="base_link"/>
- <origin rpy="0 0 0" xyz="-0.2225 0.2225 0.0282"/>
- <joint name="bl_caster_rotation_joint"/>
-
- <inertial>
- <mass value="3.473082"/>
- <com xyz="0 0 0"/>
- <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
- </inertial>
-
- <visual>
- <origin rpy="0 0 0 " xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <elem key="material" value="Gazebo/Green"/>
- </map>
- <geometry name="bl_caster_rotation_visual">
- <mesh filename="caster" scale="1 1 1"/>
- </geometry>
- </visual>
-
- <collision>
- <origin rpy="0.0 0.0 0.0 " xyz="0 0 0.07"/>
- <geometry name="bl_caster_rotation_collision">
- <box size="0.192 0.164 0.013"/>
- </geometry>
- </collision>
- </link><transmission name="bl_caster_rotation_trans" type="SimpleTransmission">
- <actuator name="bl_caster_rotation_motor"/>
- <joint name="bl_caster_rotation_joint"/>
- <mechanicalReduction>-75.05</mechanicalReduction>
- </transmission><joint name="bl_caster_l_wheel_joint" type="revolute">
- <axis xyz="0 1 0"/>
- <anchor xyz="0 0 0"/>
- <limit effort="100" k_velocity="10" velocity="100"/>
- <calibration values="1.5 -1"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint><link name="bl_caster_l_wheel_link">
- <parent name="bl_caster_rotation_link"/>
- <joint name="bl_caster_l_wheel_joint"/>
- <origin rpy="0 0 0" xyz="0 0.049 0"/>
- <inertial>
- <mass value="0.44036"/> <!-- check jmh 20081205 -->
- <com xyz=" 0 0 0 "/>
- <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <!-- TODO should be different for left and right wheel-->
- <elem key="material" value="PR2/bl_caster_l_wheel_link"/>
- </map>
- <geometry name="bl_caster_l_wheel_visual">
- <mesh filename="wheel"/>
- </geometry>
-
- </visual>
- <collision>
- <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
- <geometry name="bl_caster_l_wheel_collision">
- <cylinder length="0.03" radius="0.079"/>
- </geometry>
- <map flag="gazebo" name="friction_coefficients">
- <elem key="mu1" value="50.0"/>
- <elem key="mu2" value="50.0"/>
- <elem key="kp" value="1000000.0"/>
- <elem key="kd" value="1.0"/>
- </map>
- </collision>
- <map flag="gazebo" name="bl_caster_l_wheel_sensor">
- <verbatim key="bl_caster_l_wheel_bumper_sensor">
- <sensor:contact name="bl_caster_l_wheel_contact_sensor">
- <geom>bl_caster_l_wheel_collision</geom>
- <updateRate>1000.0</updateRate>
- <controller:ros_bumper name="bl_caster_l_wheel_ros_bumper_controller" plugin="libros_bumper.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <bumperTopicName>bl_caster_l_wheel_bumper</bumperTopicName>
- <interface:bumper name="bl_caster_l_wheel_ros_bumper_iface"/>
- </controller:ros_bumper>
- </sensor:contact>
- </verbatim>
- </map>
- </link><transmission name="bl_caster_l_wheel_trans" type="SimpleTransmission">
- <actuator name="bl_caster_l_wheel_motor"/>
- <joint name="bl_caster_l_wheel_joint"/>
- <mechanicalReduction>75.05</mechanicalReduction>
- </transmission><joint name="bl_caster_r_wheel_joint" type="revolute">
- <axis xyz="0 1 0"/>
- <anchor xyz="0 0 0"/>
- <limit effort="100" k_velocity="10" velocity="100"/>
- <calibration values="1.5 -1"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint><link name="bl_caster_r_wheel_link">
- <parent name="bl_caster_rotation_link"/>
- <joint name="bl_caster_r_wheel_joint"/>
- <origin rpy="0 0 0" xyz="0 -0.049 0"/>
- <inertial>
- <mass value="0.44036"/> <!-- check jmh 20081205 -->
- <com xyz=" 0 0 0 "/>
- <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <!-- TODO should be different for left and right wheel-->
- <elem key="material" value="PR2/bl_caster_r_wheel_link"/>
- </map>
- <geometry name="bl_caster_r_wheel_visual">
- <mesh filename="wheel"/>
- </geometry>
-
- </visual>
- <collision>
- <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
- <geometry name="bl_caster_r_wheel_collision">
- <cylinder length="0.03" radius="0.079"/>
- </geometry>
- <map flag="gazebo" name="friction_coefficients">
- <elem key="mu1" value="50.0"/>
- <elem key="mu2" value="50.0"/>
- <elem key="kp" value="1000000.0"/>
- <elem key="kd" value="1.0"/>
- </map>
- </collision>
- <map flag="gazebo" name="bl_caster_r_wheel_sensor">
- <verbatim key="bl_caster_r_wheel_bumper_sensor">
- <sensor:contact name="bl_caster_r_wheel_contact_sensor">
- <geom>bl_caster_r_wheel_collision</geom>
- <updateRate>1000.0</updateRate>
- <controller:ros_bumper name="bl_caster_r_wheel_ros_bumper_controller" plugin="libros_bumper.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <bumperTopicName>bl_caster_r_wheel_bumper</bumperTopicName>
- <interface:bumper name="bl_caster_r_wheel_ros_bumper_iface"/>
- </controller:ros_bumper>
- </sensor:contact>
- </verbatim>
- </map>
- </link><transmission name="bl_caster_r_wheel_trans" type="SimpleTransmission">
- <actuator name="bl_caster_r_wheel_motor"/>
- <joint name="bl_caster_r_wheel_joint"/>
- <mechanicalReduction>-75.05</mechanicalReduction>
- </transmission><joint name="br_caster_rotation_joint" type="revolute">
- <axis xyz="0 0 1"/>
- <anchor xyz="0 0 0"/>
- <limit effort="100" k_velocity="10" velocity="100"/>
- <calibration values="1.5 -1"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint><link name="br_caster_rotation_link">
- <parent name="base_link"/>
- <origin rpy="0 0 0" xyz="-0.2225 -0.2225 0.0282"/>
- <joint name="br_caster_rotation_joint"/>
-
- <inertial>
- <mass value="3.473082"/>
- <com xyz="0 0 0"/>
- <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
- </inertial>
-
- <visual>
- <origin rpy="0 0 0 " xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <elem key="material" value="Gazebo/Green"/>
- </map>
- <geometry name="br_caster_rotation_visual">
- <mesh filename="caster" scale="1 1 1"/>
- </geometry>
- </visual>
-
- <collision>
- <origin rpy="0.0 0.0 0.0 " xyz="0 0 0.07"/>
- <geometry name="br_caster_rotation_collision">
- <box size="0.192 0.164 0.013"/>
- </geometry>
- </collision>
- </link><transmission name="br_caster_rotation_trans" type="SimpleTransmission">
- <actuator name="br_caster_rotation_motor"/>
- <joint name="br_caster_rotation_joint"/>
- <mechanicalReduction>-75.05</mechanicalReduction>
- </transmission><joint name="br_caster_l_wheel_joint" type="revolute">
- <axis xyz="0 1 0"/>
- <anchor xyz="0 0 0"/>
- <limit effort="100" k_velocity="10" velocity="100"/>
- <calibration values="1.5 -1"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint><link name="br_caster_l_wheel_link">
- <parent name="br_caster_rotation_link"/>
- <joint name="br_caster_l_wheel_joint"/>
- <origin rpy="0 0 0" xyz="0 0.049 0"/>
- <inertial>
- <mass value="0.44036"/> <!-- check jmh 20081205 -->
- <com xyz=" 0 0 0 "/>
- <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <!-- TODO should be different for left and right wheel-->
- <elem key="material" value="PR2/br_caster_l_wheel_link"/>
- </map>
- <geometry name="br_caster_l_wheel_visual">
- <mesh filename="wheel"/>
- </geometry>
-
- </visual>
- <collision>
- <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
- <geometry name="br_caster_l_wheel_collision">
- <cylinder length="0.03" radius="0.079"/>
- </geometry>
- <map flag="gazebo" name="friction_coefficients">
- <elem key="mu1" value="50.0"/>
- <elem key="mu2" value="50.0"/>
- <elem key="kp" value="1000000.0"/>
- <elem key="kd" value="1.0"/>
- </map>
- </collision>
- <map flag="gazebo" name="br_caster_l_wheel_sensor">
- <verbatim key="br_caster_l_wheel_bumper_sensor">
- <sensor:contact name="br_caster_l_wheel_contact_sensor">
- <geom>br_caster_l_wheel_collision</geom>
- <updateRate>1000.0</updateRate>
- <controller:ros_bumper name="br_caster_l_wheel_ros_bumper_controller" plugin="libros_bumper.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <bumperTopicName>br_caster_l_wheel_bumper</bumperTopicName>
- <interface:bumper name="br_caster_l_wheel_ros_bumper_iface"/>
- </controller:ros_bumper>
- </sensor:contact>
- </verbatim>
- </map>
- </link><transmission name="br_caster_l_wheel_trans" type="SimpleTransmission">
- <actuator name="br_caster_l_wheel_motor"/>
- <joint name="br_caster_l_wheel_joint"/>
- <mechanicalReduction>75.05</mechanicalReduction>
- </transmission><joint name="br_caster_r_wheel_joint" type="revolute">
- <axis xyz="0 1 0"/>
- <anchor xyz="0 0 0"/>
- <limit effort="100" k_velocity="10" velocity="100"/>
- <calibration values="1.5 -1"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint><link name="br_caster_r_wheel_link">
- <parent name="br_caster_rotation_link"/>
- <joint name="br_caster_r_wheel_joint"/>
- <origin rpy="0 0 0" xyz="0 -0.049 0"/>
- <inertial>
- <mass value="0.44036"/> <!-- check jmh 20081205 -->
- <com xyz=" 0 0 0 "/>
- <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <!-- TODO should be different for left and right wheel-->
- <elem key="material" value="PR2/br_caster_r_wheel_link"/>
- </map>
- <geometry name="br_caster_r_wheel_visual">
- <mesh filename="wheel"/>
- </geometry>
-
- </visual>
- <collision>
- <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
- <geometry name="br_caster_r_wheel_collision">
- <cylinder length="0.03" radius="0.079"/>
- </geometry>
- <map flag="gazebo" name="friction_coefficients">
- <elem key="mu1" value="50.0"/>
- <elem key="mu2" value="50.0"/>
- <elem key="kp" value="1000000.0"/>
- <elem key="kd" value="1.0"/>
- </map>
- </collision>
- <map flag="gazebo" name="br_caster_r_wheel_sensor">
- <verbatim key="br_caster_r_wheel_bumper_sensor">
- <sensor:contact name="br_caster_r_wheel_contact_sensor">
- <geom>br_caster_r_wheel_collision</geom>
- <updateRate>1000.0</updateRate>
- <controller:ros_bumper name="br_caster_r_wheel_ros_bumper_controller" plugin="libros_bumper.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <bumperTopicName>br_caster_r_wheel_bumper</bumperTopicName>
- <interface:bumper name="br_caster_r_wheel_ros_bumper_iface"/>
- </controller:ros_bumper>
- </sensor:contact>
- </verbatim>
- </map>
- </link><transmission name="br_caster_r_wheel_trans" type="SimpleTransmission">
- <actuator name="br_caster_r_wheel_motor"/>
- <joint name="br_caster_r_wheel_joint"/>
- <mechanicalReduction>-75.05</mechanicalReduction>
- </transmission><map flag="gazebo" name="sensor">
- <verbatim key="sensor_base_laser_ray">
- <controller:ros_p3d name="p3d_base_controller" plugin="libros_p3d.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <bodyName>base_link</bodyName>
- <topicName>base_pose_ground_truth</topicName>
- <gaussianNoise>0.01</gaussianNoise>
- <frameName>map</frameName>
- <xyzOffsets>25.7 25.7 0</xyzOffsets> <!-- initialize odometry for fake localization-->
- <rpyOffsets>0 0 0</rpyOffsets>
- <interface:position name="p3d_base_position"/>
- </controller:ros_p3d>
- </verbatim>
- </map>
-
-
- <joint name="torso_lift_joint" type="prismatic">
- <limit effort="10000" k_position="100" k_velocity="1000" max="0.396" min="0.0" safety_length_max="0.01" safety_length_min="0.01" velocity="5"/>
- <calibration reference_position="0.00536" values="0 0"/>
- <axis xyz="0 0 1"/>
- <joint_properties damping="10.0"/>
- </joint><transmission name="torso_lift_trans" type="SimpleTransmission">
- <actuator name="torso_lift_motor"/>
- <joint name="torso_lift_joint"/>
- <mechanicalReduction>-52143.33</mechanicalReduction>
- </transmission><link name="torso_lift_link">
- <parent name="base_link"/>
- <origin rpy="0 0 0" xyz="-0.05 0 0.739675"/>
- <joint name="torso_lift_joint"/>
-
- <inertial>
- <mass value="36.248046"/>
- <com xyz="0 0 0"/>
- <inertia ixx="2.771653750257" ixy="0.004284522609" ixz="-0.160418504506" iyy="2.510019507959" iyz="0.029664468704" izz="0.526432355569"/>
- </inertial>
-
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <map flag="gazebo" name="foo">
- <elem key="material" value="Gazebo/Red"/>
- </map>
- <geometry name="torso_lift_visual">
- <mesh filename="torso"/>
- </geometry>
- </visual>
-
- <collision>
- <origin rpy="0 0 0" xyz="-0.1 0 -0.0885"/>
- <geometry name="torso_lift_collision">
- <box size="0.432 0.620 0.823"/>
- </geometry>
- </collision>
- <map flag="gazebo" name="torso_lift_sensor">
- <verbatim key="torso_lift_bumper_sensor">
- <sensor:contact name="torso_lift_contact_sensor">
- <geom>torso_lift_collision</geom>
- <updateRate>1000.0</updateRate>
- <controller:ros_bumper name="torso_lift_ros_bumper_controller" plugin="libros_bumper.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <bumperTopicName>torso_lift_bumper</bumperTopicName>
- <interface:bumper name="torso_lift_ros_bumper_iface"/>
- </controller:ros_bumper>
- </sensor:contact>
- </verbatim>
- </map>
- </link>
-
- <joint name="head_pan_joint" type="revolute">
- <axis xyz="0 0 1"/>
- <limit effort="2.645" k_position="100" k_velocity="1.5" max="2.92" min="-2.92" safety_length_max="0.15" safety_length_min="0.15" velocity="100"/>
- <calibration reference_position="-2.79" values="0 0"/>
- <joint_properties damping="1.0"/>
- </joint><transmission name="head_pan_trans" type="SimpleTransmission">
- <actuator name="head_pan_motor"/>
- <joint name="head_pan_joint"/>
- <mechanicalReduction>6.0</mechanicalReduction>
- </transmission><link name="head_pan_link">
- <parent name="torso_lift_link"/>
- <origin rpy="0 0 0" xyz="0 0 0.3815"/>
- <joint name="head_pan_joint"/>
-
- <inertial>
- <mass value="1.611118"/>
- <com xyz=" -0.005717 0.010312 -0.029649 "/>
- <inertia ixx="0.00482611007" ixy="-0.000144683999" ixz="0.000110076136" iyy="0.005218991412" iyz="-0.000314239509" izz="0.008618784925"/>
- </inertial>
-
- <visual>
- <origin rpy="0 0 0 " xyz="0 0 0.0"/>
- <map flag="gazebo" name="gazebo_material">
- <elem key="material" value="Gazebo/Blue"/>
- </map>
- <geometry name="head_pan_visual">
- <mesh filename="head_pan"/>
- </geometry>
- </visual>
-
- <collision>
- <origin rpy="0.0 0.0 0.0 " xyz=" 0 0 0"/>
- <geometry name="head_pan_collision">
- <box size="0.188 0.219 0.137"/>
- </geometry>
- </collision>
-
- </link><joint name="head_tilt_joint" type="revolute">
- <axis xyz="0 1 0"/>
- <limit effort="12.21" k_position="100" k_velocity="1.5" max="1.047" min="-0.55" safety_length_max="0.1" safety_length_min="0.1" velocity="100"/>
- <calibration reference_position="-0.195" values="0 0"/>
- <joint_properties damping="1.0"/>
- </joint><transmission name="head_tilt_trans" type="SimpleTransmission">
- <actuator name="head_tilt_motor"/>
- <joint name="head_tilt_joint"/>
- <mechanicalReduction>6.0</mechanicalReduction>
- </transmission><link name="head_tilt_link">
- <parent name="head_pan_link"/>
- <origin rpy="0 0 0" xyz="0.058 0 0"/>
- <joint name="head_tilt_joint"/>
-
- <inertial>
- <mass value="1.749727"/>
- <com xyz="0.041935 0.003569 0.028143"/>
- <inertia ixx="0.010602303435" ixy="-0.000408814235" ixz="0.00198303894" iyy="0.011874383747" iyz="0.000197908779" izz="0.005516790626"/>
- </inertial>
-
- <visual>
- <origin rpy="0.0 0.0 0.0 " xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <elem key="material" value="Gazebo/Green"/>
- </map>
- <geometry name="head_tilt_visual">
- <mesh filename="head_tilt"/>
- </geometry>
- </visual>
-
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0 "/>
- <geometry name="head_tilt_collision">
- <box size="0.164 0.253 0.181"/>
- </geometry>
- </collision>
- </link><joint name="stereo_joint" type="fixed"/><sensor name="stereo_link" type="camera">
- <parent name="head_tilt_link"/>
- <origin rpy="0 0 0" xyz="0.0232 0 0.0645"/>
- <joint name="stereo_joint"/>
-
- <inertial>
- <mass value="0.1"/>
- <com xyz="0 0 0"/>
- <inertia ixx="0.00482611007" ixy="-0.000144683999" ixz="0.000110076136" iyy="0.005218991412" iyz="-0.000314239509" izz="0.008618784925"/>
- </inertial>
-
- <visual>
- <origin rpy="0 0 0" xyz="0.0 0 0.05"/>
- <map flag="gazebo" name="gazebo_material">
- <elem key="material" value="Gazebo/Blue"/>
- </map>
- <geometry name="stereo_visual">
- <mesh scale="0.005 0.01 0.005"/>
- </geometry>
- </visual>
-
- <collision>
- <origin rpy="0 0 0" xyz="0.0 0 0.05"/>
- <geometry name="stereo_collision">
- <box size="0.005 0.01 0.005"/>
- </geometry>
- </collision>
-
-
- <map flag="gazebo" name="sensor">
- <verbatim key="sensor_stereo_camera">
- <sensor:camera name="stereo_l_sensor">
- <imageWidth>640</imageWidth>
- <imageHeight>480</imageHeight>
- <hfov>60</hfov>
- <nearClip>0.1</nearClip>
- <farClip>100</farClip>
- <updateRate>20.0</updateRate>
- <controller:ros_camera name="stereo_l_controller" plugin="libros_camera.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>20.0</updateRate>
- <topicName>stereo_l/image</topicName>
- <frameName>stereo_link</frameName>
- <interface:camera name="stereo_l_iface"/>
- </controller:ros_camera>
- </sensor:camera>
- </verbatim>
- </map>
- <map flag="gazebo" name="sensor">
- <verbatim key="sensor_stereo_ray">
- <sensor:ray name="stereo_laser">
- <rayCount>10</rayCount>
- <rangeCount>10</rangeCount>
- <laserCount>1</laserCount>
-
- <origin>0.0 0.0 0.05</origin>
- <displayRays>false</displayRays>
-
- <minAngle>-15</minAngle>
- <maxAngle> 15</maxAngle>
-
- <minRange>0.05</minRange>
- <maxRange>100.0</maxRange>
- <updateRate>10.0</updateRate>
-
- <verticalRayCount>10</verticalRayCount>
- <verticalRangeCount>10</verticalRangeCount>
- <verticalMinAngle>-20</verticalMinAngle>
- <verticalMaxAngle> 0</verticalMaxAngle>
-
- <controller:ros_block_laser name="stereo_laser_controller" plugin="libros_block_laser.so">
- <gaussianNoise>0.005</gaussianNoise>
- <alwaysOn>true</alwaysOn>
- <updateRate>10.0</updateRate>
- <topicName>full_cloud</topicName>
- <frameName>stereo_link</frameName>
- <interface:laser name="stereo_laser_iface"/>
- </controller:ros_block_laser>
- </sensor:ray>
- </verbatim>
- </map>
- </sensor>
-
- <joint name="laser_tilt_mount_joint" type="revolute">
- <axis xyz="0 1 0"/>
- <anchor xyz="0 0 0"/>
- <limit effort="0.5292" k_position="100" k_velocity="0.05" max="1.48" min="-0.785" safety_length_max="0.15" safety_length_min="0.15" velocity="100"/>
- <calibration reference_position="-0.35" values="0 0"/>
- <joint_properties damping="1.0"/>
- </joint><link name="laser_tilt_mount_link">
- <parent name="torso_lift_link"/>
- <origin rpy="0 0 0" xyz="0.1 0 0.19525"/>
- <joint name="laser_tilt_mount_joint"/>
- <inertial>
- <mass value="0.1"/>
- <com xyz="0 0 0"/>
- <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
- </inertial>
-
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <elem key="material" value="Gazebo/PioneerBody"/>
- </map>
- <geometry name="laser_tilt_mount_visual">
- <mesh filename="hok_tilt"/>
- </geometry>
- </visual>
-
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="laser_tilt_mount_collision">
- <box size=".001 .001 .001"/>
- </geometry>
- </collision>
- </link><transmission name="laser_tilt_mount_trans" type="SimpleTransmission">
- <actuator name="laser_tilt_mount_motor"/>
- <joint name="laser_tilt_mount_joint"/>
- <mechanicalReduction>6.0</mechanicalReduction>
- </transmission><joint name="laser_tilt_joint" type="fixed">
- <axis xyz="0 1 0"/>
- <anchor xyz="0 0 0"/>
- </joint><sensor name="laser_tilt_link" type="laser">
- <parent name="laser_tilt_mount_link"/>
- <origin rpy="0 0 0" xyz="0 0 0.03"/>
- <joint name="laser_tilt_joint"/>
- <inertial>
- <mass value="0.1"/>
- <com xyz="0 0 0"/>
- <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
- </inertial>
-
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="laser_tilt_visual">
- <mesh scale="0.001 0.001 0.001"/>
- </geometry>
- </visual>
-
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="laser_tilt_collision">
- <box size=".001 .001 .001"/>
- </geometry>
- </collision>
-
- <map flag="gazebo" name="sensor">
- <verbatim key="sensor_laser_tilt_ray">
- <sensor:ray name="laser_tilt">
- <rayCount>640</rayCount>
- <rangeCount>640</rangeCount>
- <laserCount>1</laserCount>
-
- <origin>0.0 0.0 0.0</origin>
- <displayRays>false</displayRays>
-
- <minAngle>-80</minAngle>
- <maxAngle> 80</maxAngle>
-
- <minRange>0.05</minRange>
- <maxRange>10.0</maxRange>
- <updateRate>20.0</updateRate>
- <controller:ros_laser name="ros_laser_tilt_controller" plugin="libros_laser.so">
- <gaussianNoise>0.005</gaussianNoise>
- <alwaysOn>true</alwaysOn>
- <updateRate>20.0</updateRate>
- <topicName>tilt_scan</topicName>
- <frameName>laser_tilt_link</frameName>
- <interface:laser name="ros_laser_tilt_iface"/>
- </controller:ros_laser>
- </sensor:ray>
- </verbatim>
- </map>
-
- </sensor>
-
- <joint name="r_shoulder_pan_joint" type="revolute">
- <axis xyz="0 0 1"/>
-
- <limit effort="30" k_position="100" k_velocity="10" max="0.714601836603" min="-2.2853981634" safety_length_max="0.15" safety_length_min="0.15" velocity="2.088"/>
- <calibration reference_position="-0.785398163397" values="1.5 -1"/>
-
- <joint_properties damping="10.0"/>
- </joint><link name="r_shoulder_pan_link">
- <parent name="torso_lift_link"/>
- <origin rpy="0 0 0" xyz="0 -0.188 0.0"/>
- <joint name="r_shoulder_pan_joint"/>
- <inertial>
- <mass value="16.29553"/>
- <com xyz="-0.005215 -0.030552 -0.175743"/>
- <inertia ixx="0.793291393007" ixy="0.003412032973" ixz="0.0096614481" iyy="0.818419457224" iyz="-0.033999499551" izz="0.13915007406"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <elem key="material" value="Gazebo/Blue"/>
- </map>
- <geometry name="r_shoulder_pan_visual">
- <mesh filename="shoulder_yaw"/>
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0 " xyz="0.05 0 -0.2"/>
- <geometry name="r_shoulder_pan_collision">
- <box size="0.347 0.254 0.646"/>
- </geometry>
- </collision>
- <map flag="gazebo" name="r_shoulder_pan_sensor">
- <verbatim key="r_shoulder_pan_bumper_sensor">
- <sensor:contact name="r_shoulder_pan_contact_sensor">
- <geom>r_shoulder_pan_collision</geom>
- <updateRate>1000.0</updateRate>
- <controller:ros_bumper name="r_shoulder_pan_ros_bumper_controller" plugin="libros_bumper.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <bumperTopicName>r_shoulder_pan_bumper</bumperTopicName>
- <interface:bumper name="r_shoulder_pan_ros_bumper_iface"/>
- </controller:ros_bumper>
- </sensor:contact>
- </verbatim>
- </map>
- <map flag="gazebo" name="r_shoulder_pan_gravity">
- <elem key="turnGravityOff">true</elem>
- </map>
- </link><transmission name="r_shoulder_pan_trans" type="SimpleTransmission">
- <actuator name="r_shoulder_pan_motor"/>
- <joint name="r_shoulder_pan_joint"/>
- <mechanicalReduction>63.16</mechanicalReduction>
- </transmission><joint name="r_shoulder_lift_joint" type="revolute">
- <axis xyz="0 1 0"/>
- <anchor xyz="0 0 0"/>
-
- <limit effort="30" k_position="100" k_velocity="10" max="1.5" min="-0.4" safety_length_max="0.05" safety_length_min="0.05" velocity="2.082"/>
- <calibration reference_position="shoulder_lift_cal" values="1.5 -1 "/>
-
- <joint_properties damping="100.0"/>
- </joint><link name="r_shoulder_lift_link">
- <parent name="r_shoulder_pan_link"/>
- <origin rpy="0 0 0" xyz="0.1 0 0"/>
- <joint name="r_shoulder_lift_joint"/>
- <inertial>
- <mass value="2.41223"/>
- <com xyz="-0.035895 0.014422 -0.028263"/>
- <inertia ixx="0.016640333585" ixy="0.002696462583" ixz="0.001337742275" iyy="0.017232603914" iyz="-0.003605106514" izz="0.018723553425"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <elem key="material" value="Gazebo/Grey"/>
- </map>
- <geometry name="r_shoulder_lift_visual">
- <mesh filename="shoulder_lift"/>
- </geometry>
- </visual>
- <collision>
- <origin rpy="1.57079632679 0 0" xyz="0 0 0 "/>
- <geometry name="r_shoulder_lift_collision">
- <cylinder length="0.1" radius="0.12"/>
- </geometry>
- </collision>
- <map flag="gazebo" name="r_shoulder_lift_sensor">
- <verbatim key="r_shoulder_lift_bumper_sensor">
- <sensor:contact name="r_shoulder_lift_contact_sensor">
- <geom>r_shoulder_lift_collision</geom>
- <updateRate>1000.0</updateRate>
- <controller:ros_bumper name="r_shoulder_lift_ros_bumper_controller" plugin="libros_bumper.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <bumperTopicName>r_shoulder_lift_bumper</bumperTopicName>
- <interface:bumper name="r_shoulder_lift_ros_bumper_iface"/>
- </controller:ros_bumper>
- </sensor:contact>
- </verbatim>
- </map>
- <map flag="gazebo" name="r_shoulder_lift_gravity">
- <elem key="turnGravityOff">true</elem>
- </map>
- </link><transmission name="r_shoulder_lift_trans" type="SimpleTransmission">
- <actuator name="r_shoulder_lift_motor"/>
- <joint name="r_shoulder_lift_joint"/>
- <mechanicalReduction>57.36</mechanicalReduction>
- </transmission><joint name="r_upper_arm_roll_joint" type="revolute">
- <axis xyz="1 0 0"/>
- <anchor xyz="0 0 0"/>
-
- <limit effort="30" k_position="100" k_velocity="2" max="0.8" min="-3.9" safety_length_max="0.15" safety_length_min="0.15" velocity="3.27"/>
- <calibration reference_position="-1.55875632679" values="1.5 -1 "/>
-
- <joint_properties damping="1.0"/>
- </joint><link name="r_upper_arm_roll_link">
- <parent name="r_shoulder_lift_link"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <joint name="r_upper_arm_roll_joint"/>
- <inertial>
- <mass value="0.1"/>
- <com xyz="0 0 0"/>
- <inertia ixx="0.01" ixy="0.00" ixz="0.00" iyy="0.01" iyz="0.00" izz="0.01"/>
- </inertial>
- <visual> <!-- TODO: This component doesn't actually have a mesh -->
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <elem key="material" value="Gazebo/Fish"/>
- </map>
- <geometry name="r_upper_arm_roll_visual">
- <mesh filename="upper_arm_roll" scale="1 1 1"/>
- </geometry>
- </visual>
- <collision> <!-- TODO: collision tag should be optional -->
- <origin rpy="0 0 0" xyz="0.0 0 0"/>
- <geometry name="r_upper_arm_roll_collision">
- <box size="0.1 0.1 0.1"/>
- </geometry>
- </collision>
- <map flag="gazebo" name="r_upper_arm_roll_gravity">
- <elem key="turnGravityOff">true</elem>
- </map>
- </link><transmission name="r_upper_arm_roll_trans" type="SimpleTransmission">
- <actuator name="r_upper_arm_roll_motor"/>
- <joint name="r_upper_arm_roll_joint"/>
- <mechanicalReduction>32.65</mechanicalReduction>
- </transmission><joint name="r_upper_arm_joint" type="fixed"/><link name="r_upper_arm_link">
- <parent name="r_upper_arm_roll_link"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <joint name="r_upper_arm_joint"/>
-
- <inertial>
- <mass value="4.9481"/>
- <com xyz=" 0.21227 0.001205 -0.016293 "/> <!-- x becomes y, y becomes z, z becomes x, not sure about the signs -->
- <inertia ixx="0.01338328491" ixy="0.00011947689" ixz="0.00154493231" iyy="0.07306071531" iyz="0.00054774592" izz="0.07212451075"/> <!-- x becomes y, y becomes z, z becomes x, not sure about the signs -->
- </inertial>
-
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <elem key="material" value="Gazebo/Green"/>
- </map>
- <geometry name="r_upper_arm_visual">
- <mesh filename="upper_arm"/>
- </geometry>
- </visual>
-
- <collision>
- <origin rpy="0 0 0" xyz="0.3 0 0"/>
- <geometry name="r_upper_arm_collision">
- <box size="0.362 0.144 0.157"/>
- </geometry>
- </collision>
-
- <map flag="gazebo" name="r_upper_arm_sensor">
- <verbatim key="r_upper_arm_bumper_sensor">
- <sensor:contact name="r_upper_arm_contact_sensor">
- <geom>r_upper_arm_collision</geom><!-- TODO -->
- <updateRate>1000.0</updateRate>
- <controller:ros_bumper name="r_upper_arm_ros_bumper_controller" plugin="libros_bumper.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <bumperTopicName>r_upper_arm_bumper</bumperTopicName>
- <interface:bumper name="r_upper_arm_ros_bumper_iface"/>
- </controller:ros_bumper>
- </sensor:contact>
- </verbatim>
- </map>
-
- <map flag="gazebo" name="r_upper_arm_gravity">
- <elem key="turnGravityOff">true</elem>
- </map>
- </link><joint name="r_elbow_flex_joint" type="revolute">
- <axis xyz="0 1 0"/>
- <anchor xyz="0 0 0"/>
-
- <limit effort="30" k_position="100" k_velocity="3" max="0.1" min="-2.3" safety_length_max="0.1" safety_length_min="0.25" velocity="3.3"/>
- <calibration reference_position="-1.21309" values="1.5 -1"/>
-
- <joint_properties damping="10.0"/>
- </joint><link name="r_elbow_flex_link">
- <parent name="r_upper_arm_link"/>
- <origin rpy="0 0 0" xyz="0.4 0 0"/>
- <joint name="r_elbow_flex_joint"/>
-
- <inertial>
- <mass value="1.689246"/>
- <com xyz="0.013173 0.001228 -0.011638"/> <!-- switching y to x, z to y, x to z -->
- <inertia ixx="0.00323681521" ixy="-0.00000116216" ixz="0.00029204667" iyy="0.00410053774" iyz="-0.00007735928" izz="0.00327529855"/> <!-- switching y to x, z to y, x to z -->
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <elem key="material" value="Gazebo/Grey"/>
- </map>
- <geometry name="r_elbow_flex_visual">
- <mesh filename="elbow_flex"/>
- </geometry>
- </visual>
- <collision>
- <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
- <geometry name="r_elbow_flex_collision">
- <cylinder length="0.08" radius="0.1"/>
- </geometry>
- </collision>
- <map flag="gazebo" name="r_elbow_flex_sensor">
- <verbatim key="r_elbow_flex_bumper_sensor">
- <sensor:contact name="r_elbow_flex_contact_sensor">
- <geom>r_elbow_flex_collision</geom>
- <updateRate>1000.0</updateRate>
- <controller:ros_bumper name="r_elbow_flex_ros_bumper_controller" plugin="libros_bumper.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <bumperTopicName>r_elbow_flex_bumper</bumperTopicName>
- <interface:bumper name="r_elbow_flex_ros_bumper_iface"/>
- </controller:ros_bumper>
- </sensor:contact>
- </verbatim>
- </map>
- <map flag="gazebo" name="r_elbow_flex_gravity">
- <elem key="turnGravityOff">true</elem>
- </map>
- </link><transmission name="r_elbow_flex_trans" type="SimpleTransmission">
- <actuator name="r_elbow_flex_motor"/>
- <joint name="r_elbow_flex_joint"/>
- <mechanicalReduction>-36.17</mechanicalReduction>
- </transmission><map flag="gazebo" name="sensor">
- <verbatim key="p3d_r_upper_arm">
- <!--
- <controller:ros_p3d name="p3d_${side}_shoulder_pan_controller" plugin="libros_p3d.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <bodyName>${side}_shoulder_pan_link</bodyName>
- <topicName>${side}_shoulder_pan_pose_ground_truth</topicName>
- ...
[truncated message content] |
