[Personalrobots-commit] SF.net SVN: personalrobots:[23437] pkg/trunk

[<mee...@us...>]

Revision: 23437
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23437&view=rev
Author:   meeussen
Date:     2009-09-01 00:35:02 +0000 (Tue, 01 Sep 2009)

Log Message:
-----------
add pr2_mechanism:: namespace to pr2_mechanism_controller, pr2_mechanism_model and pr2_hardware_interface

Modified Paths:
--------------
    pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_kinematics.h
    pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_calibration_controller.h
    pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_controller.h
    pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/gripper_calibration_controller.h
    pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_position_controller.h
    pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_traj_controller.h
    pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_base_controller.h
    pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_odometry.h
    pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/wrist_calibration_controller.h
    pkg/trunk/controllers/pr2_mechanism_controllers/src/base_kinematics.cpp
    pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_calibration_controller.cpp
    pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_controller.cpp
    pkg/trunk/controllers/pr2_mechanism_controllers/src/gripper_calibration_controller.cpp
    pkg/trunk/controllers/pr2_mechanism_controllers/src/head_position_controller.cpp
    pkg/trunk/controllers/pr2_mechanism_controllers/src/laser_scanner_traj_controller.cpp
    pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_base_controller.cpp
    pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_odometry.cpp
    pkg/trunk/controllers/pr2_mechanism_controllers/src/wrist_calibration_controller.cpp
    pkg/trunk/controllers/pr2_mechanism_controllers/test/test_base_controller.cpp
    pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_pose_controller.h
    pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_twist_controller.h
    pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_wrench_controller.h
    pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_effort_controller.h
    pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_position_controller.h
    pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_ud_calibration_controller.h
    pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_velocity_controller.h
    pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/trigger_controller.h
    pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_pose_controller.cpp
    pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_twist_controller.cpp
    pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_wrench_controller.cpp
    pkg/trunk/controllers/robot_mechanism_controllers/src/joint_effort_controller.cpp
    pkg/trunk/controllers/robot_mechanism_controllers/src/joint_position_controller.cpp
    pkg/trunk/controllers/robot_mechanism_controllers/src/joint_ud_calibration_controller.cpp
    pkg/trunk/controllers/robot_mechanism_controllers/src/joint_velocity_controller.cpp
    pkg/trunk/controllers/robot_mechanism_controllers/src/trigger_controller.cpp
    pkg/trunk/sandbox/dallas_controller/include/dallas_controller/dallas_controller.h
    pkg/trunk/sandbox/dallas_controller/src/dallas_controller.cpp
    pkg/trunk/sandbox/dynamics_estimation/include/dynamics_estimation/dynamics_estimation_node.h
    pkg/trunk/sandbox/dynamics_estimation/src/dynamics_estimation_node.cpp
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/arm_trajectory_controller.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/base_position_controller.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_hybrid_controller.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_pose_twist_controller.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_spline_trajectory_controller.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_tff_controller.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_trajectory_controller.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_twist_controller_ik.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/caster_calibration_controller_effort.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/caster_controller_effort.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/endeffector_constraint_controller.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/head_servoing_controller.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_autotuner.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_blind_calibration_controller.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_calibration_controller.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_chain_constraint_controller.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_chain_sine_controller.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_inverse_dynamics_controller.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_limit_calibration_controller.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_pd_controller.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_position_smoothing_controller.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_trajectory_controller.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/laser_scanner_qualification.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/pid_position_velocity_controller.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/plug_controller.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/pr2_gripper_controller.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/probe.h
    pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/trajectory_controller.h
    pkg/trunk/sandbox/experimental_controllers/src/arm_trajectory_controller.cpp
    pkg/trunk/sandbox/experimental_controllers/src/base_position_controller.cpp
    pkg/trunk/sandbox/experimental_controllers/src/cartesian_hybrid_controller.cpp
    pkg/trunk/sandbox/experimental_controllers/src/cartesian_pose_twist_controller.cpp
    pkg/trunk/sandbox/experimental_controllers/src/cartesian_spline_trajectory_controller.cpp
    pkg/trunk/sandbox/experimental_controllers/src/cartesian_tff_controller.cpp
    pkg/trunk/sandbox/experimental_controllers/src/cartesian_trajectory_controller.cpp
    pkg/trunk/sandbox/experimental_controllers/src/cartesian_twist_controller_ik.cpp
    pkg/trunk/sandbox/experimental_controllers/src/caster_calibration_controller_effort.cpp
    pkg/trunk/sandbox/experimental_controllers/src/caster_controller_effort.cpp
    pkg/trunk/sandbox/experimental_controllers/src/endeffector_constraint_controller.cpp
    pkg/trunk/sandbox/experimental_controllers/src/head_servoing_controller.cpp
    pkg/trunk/sandbox/experimental_controllers/src/joint_autotuner.cpp
    pkg/trunk/sandbox/experimental_controllers/src/joint_blind_calibration_controller.cpp
    pkg/trunk/sandbox/experimental_controllers/src/joint_calibration_controller.cpp
    pkg/trunk/sandbox/experimental_controllers/src/joint_chain_constraint_controller.cpp
    pkg/trunk/sandbox/experimental_controllers/src/joint_chain_sine_controller.cpp
    pkg/trunk/sandbox/experimental_controllers/src/joint_inverse_dynamics_controller.cpp
    pkg/trunk/sandbox/experimental_controllers/src/joint_limit_calibration_controller.cpp
    pkg/trunk/sandbox/experimental_controllers/src/joint_pd_controller.cpp
    pkg/trunk/sandbox/experimental_controllers/src/joint_position_smoothing_controller.cpp
    pkg/trunk/sandbox/experimental_controllers/src/joint_trajectory_controller.cpp
    pkg/trunk/sandbox/experimental_controllers/src/laser_scanner_qualification.cpp
    pkg/trunk/sandbox/experimental_controllers/src/pid_position_velocity_controller.cpp
    pkg/trunk/sandbox/experimental_controllers/src/plug_controller.cpp
    pkg/trunk/sandbox/experimental_controllers/src/pr2_gripper_controller.cpp
    pkg/trunk/sandbox/experimental_controllers/src/probe.cpp
    pkg/trunk/sandbox/experimental_controllers/src/trajectory_controller.cpp
    pkg/trunk/sandbox/mechanism_control_test/include/mechanism_controller_test/null_hardware.h
    pkg/trunk/sandbox/mechanism_control_test/src/mechanism_controller_test.cpp
    pkg/trunk/sandbox/mechanism_control_test/src/null_hardware.cpp
    pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/include/joint_qualification_controllers/checkout_controller.h
    pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/include/joint_qualification_controllers/hold_set_controller.h
    pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/include/joint_qualification_controllers/hysteresis_controller.h
    pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/include/joint_qualification_controllers/sine_sweep_controller.h
    pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/src/checkout_controller.cpp
    pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/src/hold_set_controller.cpp
    pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/src/hysteresis_controller.cpp
    pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/src/sine_sweep_controller.cpp
    pkg/trunk/sandbox/rtt_controller/manifest.xml
    pkg/trunk/sandbox/rtt_controller/src/pr2_etherCAT_component.cpp
    pkg/trunk/sandbox/trajectory_controllers/include/trajectory_controllers/joint_trajectory_controller2.h
    pkg/trunk/sandbox/trajectory_controllers/src/joint_trajectory_controller2.cpp
    pkg/trunk/stacks/pr2/pr2_etherCAT/src/main.cpp
    pkg/trunk/stacks/pr2_ethercat_drivers/ethercat_hardware/include/ethercat_hardware/ethercat_device.h
    pkg/trunk/stacks/pr2_mechanism/pr2_controller_interface/include/pr2_controller_interface/controller.h
    pkg/trunk/stacks/pr2_mechanism/pr2_hardware_interface/include/pr2_hardware_interface/hardware_interface.h
    pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/include/pr2_mechanism_control/mechanism_control.h
    pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/include/pr2_mechanism_control/recorder.h
    pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/src/mechanism_control.cpp
    pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/src/recorder.cpp
    pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/chain.h
    pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/gripper_transmission.h
    pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/joint.h
    pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/pr2_gripper_transmission.h
    pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/robot.h
    pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/simple_transmission.h
    pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/transmission.h
    pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/wrist_transmission.h
    pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/chain.cpp
    pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/gripper_transmission.cpp
    pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/joint.cpp
    pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/nonlinear_transmission.cpp
    pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/pr2_gripper_transmission.cpp
    pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/robot.cpp
    pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/simple_transmission.cpp
    pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/wrist_transmission.cpp
    pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/test/test_chain.cpp
    pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/transmission_plugins.xml
    pkg/trunk/stacks/pr2_simulator/gazebo_plugin/include/gazebo_plugin/gazebo_mechanism_control.h
    pkg/trunk/stacks/pr2_simulator/gazebo_plugin/src/gazebo_mechanism_control.cpp

Removed Paths:
-------------
    pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/link.h
    pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/link.cpp

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_kinematics.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_kinematics.h	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_kinematics.h	2009-09-01 00:35:02 UTC (rev 23437)
@@ -59,7 +59,7 @@
       /*!
        * \brief JointState for this wheel joint
        */
-      mechanism::JointState *joint_;
+      pr2_mechanism::JointState *joint_;
 
       /*!
        * \brief default offset from the parent caster before any transformations
@@ -127,8 +127,8 @@
        * @param robot_state The robot's current state
        * @param config Tiny xml element pointing to this wheel
        */
-//      void initXml(mechanism::RobotState *robot_state, TiXmlElement *config);
-      bool init(mechanism::RobotState *robot_state, const ros::NodeHandle &node, std::string link_name);
+//      void initXml(pr2_mechanism::RobotState *robot_state, TiXmlElement *config);
+      bool init(pr2_mechanism::RobotState *robot_state, const ros::NodeHandle &node, std::string link_name);
 
       /*!
        * \brief Computes 2d postion of the wheel relative to the center of the base
@@ -146,7 +146,7 @@
       /*!
        * \brief JointState for this caster joint
        */
-      mechanism::JointState *joint_;
+      pr2_mechanism::JointState *joint_;
 
       /*!
        * \brief offset from the center of the base
@@ -220,8 +220,8 @@
        * @param robot_state The robot's current state
        * @param config Tiny xml element pointing to this caster
        */
-//      void initXml(mechanism::RobotState *robot_state, TiXmlElement *config);
-      bool init(mechanism::RobotState *robot_state,  const ros::NodeHandle &node, std::string link_name);
+//      void initXml(pr2_mechanism::RobotState *robot_state, TiXmlElement *config);
+      bool init(pr2_mechanism::RobotState *robot_state,  const ros::NodeHandle &node, std::string link_name);
   };
 
   /*! \class
@@ -237,8 +237,8 @@
        * @param config Tiny xml element pointing to its controller
        * @return Successful init
        */
-//      bool initXml(mechanism::RobotState *robot_state, TiXmlElement *config);
-    bool init(mechanism::RobotState *robot_state, const ros::NodeHandle &node);
+//      bool initXml(pr2_mechanism::RobotState *robot_state, TiXmlElement *config);
+    bool init(pr2_mechanism::RobotState *robot_state, const ros::NodeHandle &node);
 
       /*!
        * \brief Computes 2d postion of every wheel relative to the center of the base
@@ -256,7 +256,7 @@
       /*!
        * \brief remembers everything about the state of the robot
        */
-      mechanism::RobotState *robot_state_;
+      pr2_mechanism::RobotState *robot_state_;
 
       /*!
        * \brief number of wheels connected to the base

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_calibration_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_calibration_controller.h	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_calibration_controller.h	2009-09-01 00:35:02 UTC (rev 23437)
@@ -47,8 +47,8 @@
   CasterCalibrationController();
   ~CasterCalibrationController();
 
-  virtual bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
-  virtual bool init(mechanism::RobotState *robot, const ros::NodeHandle &n);
+  virtual bool initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config);
+  virtual bool init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n);
 
 
   /*!
@@ -66,7 +66,7 @@
 protected:
 
   ros::NodeHandle node_;
-  mechanism::RobotState *robot_;
+  pr2_mechanism::RobotState *robot_;
 
   enum { INITIALIZED, BEGINNING, MOVING, CALIBRATED };
   int state_;
@@ -74,9 +74,9 @@
   double search_velocity_;
   bool original_switch_state_;
 
-  Actuator *actuator_;
-  mechanism::JointState *joint_, *wheel_l_joint_, *wheel_r_joint_;
-  mechanism::Transmission *transmission_;
+  pr2_mechanism::Actuator *actuator_;
+  pr2_mechanism::JointState *joint_, *wheel_l_joint_, *wheel_r_joint_;
+  pr2_mechanism::Transmission *transmission_;
 
   controller::CasterController cc_;
 

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_controller.h	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_controller.h	2009-09-01 00:35:02 UTC (rev 23437)
@@ -61,12 +61,12 @@
   CasterController();
   ~CasterController();
 
-  bool init(mechanism::RobotState *robot_state,
+  bool init(pr2_mechanism::RobotState *robot_state,
             const std::string &caster_joint,
             const std::string &wheel_l_joint, const std::string &wheel_r_joint,
             const control_toolbox::Pid &caster_pid, const control_toolbox::Pid &wheel_pid);
-  bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
-  bool init(mechanism::RobotState *robot, const ros::NodeHandle &n);
+  bool initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config);
+  bool init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n);
 
   void update();
 
@@ -76,7 +76,7 @@
   double getSteerPosition() { return caster_->position_; }
   double getSteerVelocity() { return caster_->velocity_; }
 
-  mechanism::JointState *caster_;
+  pr2_mechanism::JointState *caster_;
 
 private:
   ros::NodeHandle node_;

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/gripper_calibration_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/gripper_calibration_controller.h	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/gripper_calibration_controller.h	2009-09-01 00:35:02 UTC (rev 23437)
@@ -50,8 +50,8 @@
   GripperCalibrationController();
   ~GripperCalibrationController();
 
-  virtual bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
-  virtual bool init(mechanism::RobotState *robot, const ros::NodeHandle &n);
+  virtual bool initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config);
+  virtual bool init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n);
 
   virtual void update();
 
@@ -68,13 +68,13 @@
   int count_;
 
   ros::NodeHandle node_;
-  mechanism::RobotState *robot_;
+  pr2_mechanism::RobotState *robot_;
   ros::Time last_publish_time_;
   boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > pub_calibrated_;
 
   double search_velocity_;
-  Actuator *actuator_;
-  mechanism::JointState *joint_;
+  pr2_mechanism::Actuator *actuator_;
+  pr2_mechanism::JointState *joint_;
 
   double init_time;
 

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_position_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_position_controller.h	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_position_controller.h	2009-09-01 00:35:02 UTC (rev 23437)
@@ -58,7 +58,7 @@
   HeadPositionController();
   ~HeadPositionController();
 
-  bool init(mechanism::RobotState *robot, const ros::NodeHandle &n);
+  bool init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n);
 
   bool starting();
   void update();
@@ -70,7 +70,7 @@
   
   ros::NodeHandle node_;
   std::string pan_link_name_, tilt_link_name_;
-  mechanism::RobotState *robot_state_;
+  pr2_mechanism::RobotState *robot_state_;
   ros::Subscriber sub_command_;
   
   void command(const sensor_msgs::JointStateConstPtr& command_msg);

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_traj_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_traj_controller.h	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_traj_controller.h	2009-09-01 00:35:02 UTC (rev 23437)
@@ -68,8 +68,8 @@
   LaserScannerTrajController() ;
   ~LaserScannerTrajController() ;
 
-  bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
-  bool init(mechanism::RobotState *robot, const ros::NodeHandle &n);
+  bool initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config);
+  bool init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n);
 
   virtual void update() ;
 
@@ -93,16 +93,16 @@
 
   //void initDErrorFilter(double f) ;                                     // Initializes d_error_filter using a smoothing factor
 
-  mechanism::RobotState *robot_ ;
-  mechanism::JointState *joint_state_ ;                                 // Need this to check the calibrated flag on the joint
+  pr2_mechanism::RobotState *robot_ ;
+  pr2_mechanism::JointState *joint_state_ ;                                 // Need this to check the calibrated flag on the joint
 
   boost::mutex traj_lock_ ;                                       // Mutex for traj_
   trajectory::Trajectory traj_ ;                                        // Stores the current trajectory being executed
 
   //boost::mutex track_link_lock_ ;
   //bool track_link_enabled_ ;
-  //mechanism::LinkState* target_link_ ;
-  //mechanism::LinkState* mount_link_ ;
+  //pr2_mechanism::LinkState* target_link_ ;
+  //pr2_mechanism::LinkState* mount_link_ ;
   tf::Vector3 track_point_ ;
 
   //JointPositionSmoothController joint_position_controller_ ;            // The PID position controller that is doing all the under-the-hood controls stuff
@@ -133,8 +133,8 @@
 
   void update() ;
 
-  bool initXml(mechanism::RobotState *robot, TiXmlElement *config) ;
-  bool init(mechanism::RobotState *robot, const ros::NodeHandle &n);
+  bool initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config) ;
+  bool init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n);
 
   // Message Callbacks
   void setPeriodicCmd() ;
@@ -149,7 +149,7 @@
 private:
   ros::Node *node_ ;
   LaserScannerTrajController c_ ;
-  mechanism::RobotState *robot_ ;
+  pr2_mechanism::RobotState *robot_ ;
   std::string service_prefix_ ;
 
   int prev_profile_segment_ ;                                                    //!< The segment in the current profile when update() was last called

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_base_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_base_controller.h	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_base_controller.h	2009-09-01 00:35:02 UTC (rev 23437)
@@ -72,7 +72,7 @@
        */
       bool starting();
 
-      bool init(mechanism::RobotState *robot, const ros::NodeHandle &n);
+      bool init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n);
 
       /*!
        * \brief Loads controller's information from the xml description file and param server
@@ -80,7 +80,7 @@
        * @param config Tiny xml element pointing to this controller
        * @return Successful init
        */
-      bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
+      bool initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config);
 
       /*
        * \brief callback function for setting the desired velocity using a topic

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_odometry.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_odometry.h	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_odometry.h	2009-09-01 00:35:02 UTC (rev 23437)
@@ -73,7 +73,7 @@
     * @param config Tiny xml element pointing to this controller
     * @return Successful init
     */
-    bool initXml(mechanism::RobotState *robot_state, TiXmlElement *config);
+    bool initXml(pr2_mechanism::RobotState *robot_state, TiXmlElement *config);
 
     /*!
     * \brief Initializes and loads odometry information from the param server
@@ -81,7 +81,7 @@
     * @param config Tiny xml element pointing to this controller
     * @return Successful init
     */
-    bool init(mechanism::RobotState *robot_state, const ros::NodeHandle &node);
+    bool init(pr2_mechanism::RobotState *robot_state, const ros::NodeHandle &node);
 
     /*
     * \brief  The starting method is called by the realtime thread just before

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/wrist_calibration_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/wrist_calibration_controller.h	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/wrist_calibration_controller.h	2009-09-01 00:35:02 UTC (rev 23437)
@@ -56,8 +56,8 @@
   WristCalibrationController();
   ~WristCalibrationController();
 
-  virtual bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
-  virtual bool init(mechanism::RobotState *robot, const ros::NodeHandle &n);
+  virtual bool initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config);
+  virtual bool init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n);
 
   /*!
    * \brief Issues commands to the joint. Should be called at regular intervals
@@ -76,7 +76,7 @@
   enum { INITIALIZED, BEGINNING, MOVING_FLEX, MOVING_ROLL, CALIBRATED };
   int state_;
 
-  mechanism::RobotState *robot_;
+  pr2_mechanism::RobotState *robot_;
   ros::NodeHandle node_;
   ros::Time last_publish_time_;
   boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > pub_calibrated_;
@@ -90,9 +90,9 @@
 
   double prev_actuator_l_position_, prev_actuator_r_position_;
 
-  Actuator *actuator_l_, *actuator_r_;
-  mechanism::JointState *flex_joint_, *roll_joint_;
-  mechanism::Transmission *transmission_;
+  pr2_mechanism::Actuator *actuator_l_, *actuator_r_;
+  pr2_mechanism::JointState *flex_joint_, *roll_joint_;
+  pr2_mechanism::Transmission *transmission_;
 
   controller::JointVelocityController vc_flex_, vc_roll_;
 };

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/base_kinematics.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/base_kinematics.cpp	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/base_kinematics.cpp	2009-09-01 00:35:02 UTC (rev 23437)
@@ -40,7 +40,7 @@
 using namespace controller;
 
 
-bool Wheel::init(mechanism::RobotState *robot_state, const ros::NodeHandle &node, std::string link_name)
+bool Wheel::init(pr2_mechanism::RobotState *robot_state, const ros::NodeHandle &node, std::string link_name)
 {
   wheel_stuck_ = 0;
   direction_multiplier_ = 1;
@@ -72,7 +72,7 @@
   return true;
 }
 
-bool Caster::init(mechanism::RobotState *robot_state,  const ros::NodeHandle &node, std::string link_name)
+bool Caster::init(pr2_mechanism::RobotState *robot_state,  const ros::NodeHandle &node, std::string link_name)
 {
   caster_stuck_ = 0;
   caster_speed_ = 0;
@@ -118,7 +118,7 @@
   return true;
 }
 
-bool BaseKinematics::init(mechanism::RobotState *robot_state, const ros::NodeHandle &node)
+bool BaseKinematics::init(pr2_mechanism::RobotState *robot_state, const ros::NodeHandle &node)
 {
   std::string caster_names_string;
   std::vector<std::string> caster_names;

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_calibration_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_calibration_controller.cpp	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_calibration_controller.cpp	2009-09-01 00:35:02 UTC (rev 23437)
@@ -48,7 +48,7 @@
 {
 }
 
-bool CasterCalibrationController::initXml(mechanism::RobotState *robot, TiXmlElement *config)
+bool CasterCalibrationController::initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config)
 {
   // This method is gross and ugly and should change (and the xml
   // config format along with it)
@@ -101,7 +101,7 @@
   return true;
 }
 
-bool CasterCalibrationController::init(mechanism::RobotState *robot, const ros::NodeHandle &n)
+bool CasterCalibrationController::init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n)
 {
   node_ = n;
   robot_ = robot;
@@ -217,10 +217,10 @@
     bool switch_state_ = actuator_->state_.calibration_reading_;
     if (switch_state_ != original_switch_state_)
     {
-      Actuator a;
-      mechanism::JointState j;
-      std::vector<Actuator*> fake_a;
-      std::vector<mechanism::JointState*> fake_j;
+      pr2_mechanism::Actuator a;
+      pr2_mechanism::JointState j;
+      std::vector<pr2_mechanism::Actuator*> fake_a;
+      std::vector<pr2_mechanism::JointState*> fake_j;
       fake_a.push_back(&a);
       fake_j.push_back(&j);
 

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_controller.cpp	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_controller.cpp	2009-09-01 00:35:02 UTC (rev 23437)
@@ -51,7 +51,7 @@
 }
 
 bool CasterController::init(
-  mechanism::RobotState *robot,
+  pr2_mechanism::RobotState *robot,
   const std::string &caster_joint,
   const std::string &wheel_l_joint, const std::string &wheel_r_joint,
   const control_toolbox::Pid &caster_pid, const control_toolbox::Pid &wheel_pid)
@@ -73,7 +73,7 @@
   return true;
 }
 
-bool CasterController::initXml(mechanism::RobotState *robot, TiXmlElement *config)
+bool CasterController::initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config)
 {
   TiXmlElement *jel = config->FirstChildElement("joints");
   if (!jel)
@@ -122,7 +122,7 @@
   return init(robot, caster_joint, wheel_l_joint, wheel_r_joint, caster_pid, wheel_pid);
 }
 
-bool CasterController::init(mechanism::RobotState *robot, const ros::NodeHandle &n)
+bool CasterController::init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n)
 {
   node_ = n;
   assert(robot);

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/gripper_calibration_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/gripper_calibration_controller.cpp	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/gripper_calibration_controller.cpp	2009-09-01 00:35:02 UTC (rev 23437)
@@ -53,7 +53,7 @@
 {
 }
 
-bool GripperCalibrationController::initXml(mechanism::RobotState *robot, TiXmlElement *config)
+bool GripperCalibrationController::initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config)
 {
   assert(robot);
   assert(config);
@@ -106,7 +106,7 @@
   return true;
 }
 
-bool GripperCalibrationController::init(mechanism::RobotState *robot,
+bool GripperCalibrationController::init(pr2_mechanism::RobotState *robot,
                                         const ros::NodeHandle &n)
 {
   assert(robot);

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/head_position_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/head_position_controller.cpp	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/head_position_controller.cpp	2009-09-01 00:35:02 UTC (rev 23437)
@@ -57,7 +57,7 @@
 
 }
 
-bool HeadPositionController::init(mechanism::RobotState *robot_state, const ros::NodeHandle &n)
+bool HeadPositionController::init(pr2_mechanism::RobotState *robot_state, const ros::NodeHandle &n)
 {
   node_ = n;
 

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/laser_scanner_traj_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/laser_scanner_traj_controller.cpp	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/laser_scanner_traj_controller.cpp	2009-09-01 00:35:02 UTC (rev 23437)
@@ -56,7 +56,7 @@
 
 }
 
-bool LaserScannerTrajController::initXml(mechanism::RobotState *robot, TiXmlElement *config)
+bool LaserScannerTrajController::initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config)
 {
   if (!robot || !config)
     return false ;
@@ -163,7 +163,7 @@
   return true ;
 }
 
-bool LaserScannerTrajController::init(mechanism::RobotState *robot, const ros::NodeHandle &n)
+bool LaserScannerTrajController::init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n)
 {
   std::string xml;
   if (!n.getParam("xml", xml))
@@ -504,7 +504,7 @@
   }
 }
 
-bool LaserScannerTrajControllerNode::initXml(mechanism::RobotState *robot, TiXmlElement *config)
+bool LaserScannerTrajControllerNode::initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config)
 {
   robot_ = robot ;      // Need robot in order to grab hardware time
 
@@ -535,7 +535,7 @@
   return true ;
 }
 
-bool LaserScannerTrajControllerNode::init(mechanism::RobotState *robot,
+bool LaserScannerTrajControllerNode::init(pr2_mechanism::RobotState *robot,
                                           const ros::NodeHandle &n)
 {
   std::string xml;

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_base_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_base_controller.cpp	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_base_controller.cpp	2009-09-01 00:35:02 UTC (rev 23437)
@@ -70,7 +70,7 @@
 {
 }
 
-bool Pr2BaseController::init(mechanism::RobotState *robot, const ros::NodeHandle &n)
+bool Pr2BaseController::init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n)
 {
   if(!base_kin_.init(robot,n))
     return false;
@@ -151,7 +151,7 @@
   return true;
 }
 
-bool Pr2BaseController::initXml(mechanism::RobotState *robot, TiXmlElement *config)
+bool Pr2BaseController::initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config)
 {
 //  base_kin_.initXml(robot, config);
   return init(robot, ros::NodeHandle(config->Attribute("name")));

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_odometry.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_odometry.cpp	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_odometry.cpp	2009-09-01 00:35:02 UTC (rev 23437)
@@ -50,7 +50,7 @@
 {
 }
 
-bool Pr2Odometry::init(mechanism::RobotState *robot_state, const ros::NodeHandle &node)
+bool Pr2Odometry::init(pr2_mechanism::RobotState *robot_state, const ros::NodeHandle &node)
 {
   node_ = node;
   node.param("odometer/distance", odometer_distance_, 0.0);
@@ -100,7 +100,7 @@
   return true;
 }
 
-bool Pr2Odometry::initXml(mechanism::RobotState *robot_state, TiXmlElement *config)
+bool Pr2Odometry::initXml(pr2_mechanism::RobotState *robot_state, TiXmlElement *config)
 {
   return init(robot_state,ros::NodeHandle(config->Attribute("name")));
 }

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/wrist_calibration_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/wrist_calibration_controller.cpp	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/wrist_calibration_controller.cpp	2009-09-01 00:35:02 UTC (rev 23437)
@@ -48,7 +48,7 @@
 {
 }
 
-bool WristCalibrationController::initXml(mechanism::RobotState *robot, TiXmlElement *config)
+bool WristCalibrationController::initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config)
 {
   assert(robot);
   assert(config);
@@ -131,7 +131,7 @@
   return true;
 }
 
-bool WristCalibrationController::init(mechanism::RobotState *robot,
+bool WristCalibrationController::init(pr2_mechanism::RobotState *robot,
                                       const ros::NodeHandle &n)
 {
   assert(robot);
@@ -311,17 +311,17 @@
       // optical switches were hit.  Now we compute the actuator
       // positions when the joints should be at 0.
 
-      const int LEFT_MOTOR = mechanism::WristTransmission::LEFT_MOTOR;
-      const int RIGHT_MOTOR = mechanism::WristTransmission::RIGHT_MOTOR;
-      const int FLEX_JOINT = mechanism::WristTransmission::FLEX_JOINT;
-      const int ROLL_JOINT = mechanism::WristTransmission::ROLL_JOINT;
+      const int LEFT_MOTOR = pr2_mechanism::WristTransmission::LEFT_MOTOR;
+      const int RIGHT_MOTOR = pr2_mechanism::WristTransmission::RIGHT_MOTOR;
+      const int FLEX_JOINT = pr2_mechanism::WristTransmission::FLEX_JOINT;
+      const int ROLL_JOINT = pr2_mechanism::WristTransmission::ROLL_JOINT;
 
       // Sets up the data structures for passing joint and actuator
       // positions through the transmission.
-      Actuator fake_as_mem[2];  // This way we don't need to delete the objects later
-      mechanism::JointState fake_js_mem[2];
-      std::vector<Actuator*> fake_as;
-      std::vector<mechanism::JointState*> fake_js;
+      pr2_mechanism::Actuator fake_as_mem[2];  // This way we don't need to delete the objects later
+      pr2_mechanism::JointState fake_js_mem[2];
+      std::vector<pr2_mechanism::Actuator*> fake_as;
+      std::vector<pr2_mechanism::JointState*> fake_js;
       fake_as.push_back(&fake_as_mem[0]);
       fake_as.push_back(&fake_as_mem[1]);
       fake_js.push_back(&fake_js_mem[0]);

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/test/test_base_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/test/test_base_controller.cpp	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/test/test_base_controller.cpp	2009-09-01 00:35:02 UTC (rev 23437)
@@ -17,7 +17,7 @@
 
 
   /*********** Create the robot model ****************/
-  mechanism::Robot *robot_model = new mechanism::Robot;
+  pr2_mechanism::Robot *robot_model = new pr2_mechanism::Robot;
   controller::BaseControllerNode bc;
   HardwareInterface hw(0);
   robot_model->hw_ = &hw;
@@ -33,7 +33,7 @@
   TiXmlElement *root = xml.FirstChildElement("robot");
   urdf::normalizeXml(root);
   robot_model->initXml(root);
-  mechanism::RobotState *robot_state = new mechanism::RobotState(robot_model, &hw);
+  pr2_mechanism::RobotState *robot_state = new pr2_mechanism::RobotState(robot_model, &hw);
 
 
   /*********** Load the controller file ************/
@@ -106,7 +106,7 @@
 
 TEST (BaseControllerTests, loadXML)
 {
-  mechanism::Robot *robot = new mechanism::Robot("r2d2");
+  pr2_mechanism::Robot *robot = new pr2_mechanism::Robot("r2d2");
   controller::BaseController bc;
 
   const string xml_controller_file = "controller_base.xml";

Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_pose_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_pose_controller.h	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_pose_controller.h	2009-09-01 00:35:02 UTC (rev 23437)
@@ -91,7 +91,7 @@
   CartesianPoseController();
   ~CartesianPoseController();
 
-  bool init(mechanism::RobotState *robot, const ros::NodeHandle &n);
+  bool init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n);
   bool starting();
   void update();
 
@@ -115,8 +115,8 @@
   ros::Time last_time_;
 
   // robot structure
-  mechanism::RobotState *robot_state_;
-  mechanism::Chain chain_;
+  pr2_mechanism::RobotState *robot_state_;
+  pr2_mechanism::Chain chain_;
 
   // pid controllers
   std::vector<control_toolbox::Pid> pid_controller_;

Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_twist_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_twist_controller.h	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_twist_controller.h	2009-09-01 00:35:02 UTC (rev 23437)
@@ -81,8 +81,8 @@
   CartesianTwistController();
   ~CartesianTwistController();
 
-  bool initXml(mechanism::RobotState *robot_state, TiXmlElement *config);
-  bool init(mechanism::RobotState *robot, const ros::NodeHandle &n);
+  bool initXml(pr2_mechanism::RobotState *robot_state, TiXmlElement *config);
+  bool init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n);
 
   bool starting();
   void update();
@@ -104,8 +104,8 @@
   std::vector<control_toolbox::Pid> fb_pid_controller_;
 
   // robot description
-  mechanism::RobotState *robot_state_;
-  mechanism::Chain chain_;
+  pr2_mechanism::RobotState *robot_state_;
+  pr2_mechanism::Chain chain_;
 
   // kdl stuff for kinematics
   KDL::Chain             kdl_chain_;

Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_wrench_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_wrench_controller.h	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_wrench_controller.h	2009-09-01 00:35:02 UTC (rev 23437)
@@ -75,8 +75,8 @@
   CartesianWrenchController();
   ~CartesianWrenchController();
 
-  bool initXml(mechanism::RobotState *robot_state, TiXmlElement *config);
-  bool init(mechanism::RobotState *robot, const ros::NodeHandle &n);
+  bool initXml(pr2_mechanism::RobotState *robot_state, TiXmlElement *config);
+  bool init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n);
 
   bool starting();
   void update();
@@ -88,8 +88,8 @@
   ros::NodeHandle node_;
   ros::Subscriber sub_command_;
   void command(const geometry_msgs::WrenchConstPtr& wrench_msg);
-  mechanism::RobotState *robot_state_;
-  mechanism::Chain chain_;
+  pr2_mechanism::RobotState *robot_state_;
+  pr2_mechanism::Chain chain_;
 
   KDL::Chain kdl_chain_;
   boost::scoped_ptr<KDL::ChainJntToJacSolver> jnt_to_jac_solver_;

Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_effort_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_effort_controller.h	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_effort_controller.h	2009-09-01 00:35:02 UTC (rev 23437)
@@ -67,19 +67,19 @@
   JointEffortController();
   ~JointEffortController();
 
-  bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
-  bool init(mechanism::RobotState *robot, const std::string &joint_name);
-  virtual bool init(mechanism::RobotState *robot, const ros::NodeHandle &n);
+  bool initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config);
+  bool init(pr2_mechanism::RobotState *robot, const std::string &joint_name);
+  virtual bool init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n);
 
   virtual bool starting() { command_ = 0.0; return true; }
   virtual void update();
 
-  mechanism::JointState *joint_state_;
+  pr2_mechanism::JointState *joint_state_;
 
   double command_;
 
 private:
-  mechanism::RobotState *robot_;
+  pr2_mechanism::RobotState *robot_;
 
   ros::NodeHandle node_;
   ros::Subscriber sub_command_;

Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_position_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_position_controller.h	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_position_controller.h	2009-09-01 00:35:02 UTC (rev 23437)
@@ -78,9 +78,9 @@
   JointPositionController();
   ~JointPositionController();
 
-  bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
-  bool init(mechanism::RobotState *robot, const std::string &joint_name,const control_toolbox::Pid &pid);
-  bool init(mechanism::RobotState *robot, const ros::NodeHandle &n);
+  bool initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config);
+  bool init(pr2_mechanism::RobotState *robot, const std::string &joint_name,const control_toolbox::Pid &pid);
+  bool init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n);
 
   /*!
    * \brief Give set position of the joint for next update: revolute (angle) and prismatic (position)
@@ -108,14 +108,14 @@
   void setGains(const double &p, const double &i, const double &d, const double &i_max, const double &i_min);
 
   std::string getJointName();
-  mechanism::JointState *joint_state_;        /**< Joint we're controlling. */
+  pr2_mechanism::JointState *joint_state_;        /**< Joint we're controlling. */
   ros::Duration dt_;
   double command_;                            /**< Last commanded position. */
 
 private:
   int loop_count_;
   bool initialized_;
-  mechanism::RobotState *robot_;              /**< Pointer to robot structure. */
+  pr2_mechanism::RobotState *robot_;              /**< Pointer to robot structure. */
   control_toolbox::Pid pid_controller_;       /**< Internal PID controller. */
   ros::Time last_time_;                          /**< Last time stamp of update. */
 

Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_ud_calibration_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_ud_calibration_controller.h	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_ud_calibration_controller.h	2009-09-01 00:35:02 UTC (rev 23437)
@@ -50,8 +50,8 @@
   JointUDCalibrationController();
   virtual ~JointUDCalibrationController();
 
-  virtual bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
-  virtual bool init(mechanism::RobotState *robot, const ros::NodeHandle &n);
+  virtual bool initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config);
+  virtual bool init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n);
 
   virtual void update();
 
@@ -64,7 +64,7 @@
 
 protected:
 
-  mechanism::RobotState* robot_;
+  pr2_mechanism::RobotState* robot_;
   ros::NodeHandle node_;
   boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > pub_calibrated_;
   ros::Time last_publish_time_;
@@ -76,9 +76,9 @@
   double search_velocity_;
   bool original_switch_state_;
 
-  Actuator *actuator_;
-  mechanism::JointState *joint_;
-  mechanism::Transmission *transmission_;
+  pr2_mechanism::Actuator *actuator_;
+  pr2_mechanism::JointState *joint_;
+  pr2_mechanism::Transmission *transmission_;
 
   controller::JointVelocityController vc_;
 };

Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_velocity_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_velocity_controller.h	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_velocity_controller.h	2009-09-01 00:35:02 UTC (rev 23437)
@@ -90,9 +90,9 @@
    * \param joint_name Name of joint we want to control.
    * \param *robot The robot.
    */
-  bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
-  bool init(mechanism::RobotState *robot, const std::string &joint_name, const control_toolbox::Pid &pid);
-  bool init(mechanism::RobotState *robot, const ros::NodeHandle &n);
+  bool initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config);
+  bool init(pr2_mechanism::RobotState *robot, const std::string &joint_name, const control_toolbox::Pid &pid);
+  bool init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n);
 
   /*!
    * \brief Give set position of the joint for next update: revolute (angle) and prismatic (position)
@@ -121,13 +121,13 @@
   void setGains(const double &p, const double &i, const double &d, const double &i_max, const double &i_min);
 
   std::string getJointName();
-  mechanism::JointState *joint_state_;           /**< Joint we're controlling. */
+  pr2_mechanism::JointState *joint_state_;           /**< Joint we're controlling. */
   ros::Duration dt_;
 
   double command_;                                /**< Last commanded position. */
 private:
   ros::NodeHandle node_;
-  mechanism::RobotState *robot_;                  /**< Pointer to robot structure. */
+  pr2_mechanism::RobotState *robot_;                  /**< Pointer to robot structure. */
   control_toolbox::Pid pid_controller_;           /**< Internal PID controller. */
   ros::Time last_time_;                              /**< Last time stamp of update. */
   int loop_count_;

Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/trigger_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/trigger_controller.h	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/trigger_controller.h	2009-09-01 00:35:02 UTC (rev 23437)
@@ -66,7 +66,7 @@
   
   void update();
   
-  bool init(mechanism::RobotState *robot, const ros::NodeHandle &n);
+  bool init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n);
   
   /**
    * \brief Convert time to an unrolled phase (in cycles).
@@ -226,8 +226,8 @@
   bool setWaveformSrv(trigger_configuration &req,
       robot_mechanism_controllers::SetWaveform::Response &resp);
     
-  mechanism::RobotState * robot_;
-  ActuatorCommand *actuator_command_;
+  pr2_mechanism::RobotState * robot_;
+  pr2_mechanism::ActuatorCommand *actuator_command_;
   
   double prev_tick_;
   

Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_pose_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_pose_controller.cpp	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_pose_controller.cpp	2009-09-01 00:35:02 UTC (rev 23437)
@@ -60,7 +60,7 @@
 {}
 
 
-bool CartesianPoseController::init(mechanism::RobotState *robot_state, const ros::NodeHandle &n)
+bool CartesianPoseController::init(pr2_mechanism::RobotState *robot_state, const ros::NodeHandle &n)
 {
   node_ = n;
 

Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_twist_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_twist_controller.cpp	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_twist_controller.cpp	2009-09-01 00:35:02 UTC (rev 23437)
@@ -58,7 +58,7 @@
 
 
 
-bool CartesianTwistController::initXml(mechanism::RobotState *robot_state, TiXmlElement *config)
+bool CartesianTwistController::initXml(pr2_mechanism::RobotState *robot_state, TiXmlElement *config)
 {
   // get the controller name from xml file
   std::string controller_name = config->Attribute("name") ? config->Attribute("name") : "";
@@ -70,7 +70,7 @@
   return init(robot_state, ros::NodeHandle(controller_name));
 }
 
-bool CartesianTwistController::init(mechanism::RobotState *robot_state, const ros::NodeHandle &n)
+bool CartesianTwistController::init(pr2_mechanism::RobotState *robot_state, const ros::NodeHandle &n)
 {
   node_ = n;
 

Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_wrench_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_wrench_controller.cpp	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_wrench_controller.cpp	2009-09-01 00:35:02 UTC (rev 23437)
@@ -57,7 +57,7 @@
 
 
 
-bool CartesianWrenchController::initXml(mechanism::RobotState *robot_state, TiXmlElement *config)
+bool CartesianWrenchController::initXml(pr2_mechanism::RobotState *robot_state, TiXmlElement *config)
 {
   // get the controller name from xml file
   std::string controller_name = config->Attribute("name") ? config->Attribute("name") : "";
@@ -69,7 +69,7 @@
   return init(robot_state, ros::NodeHandle(controller_name));
 }
 
-bool CartesianWrenchController::init(mechanism::RobotState *robot, const ros::NodeHandle &n)
+bool CartesianWrenchController::init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n)
 {
   // test if we got robot pointer
   assert(robot);

Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/joint_effort_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/joint_effort_controller.cpp	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/joint_effort_controller.cpp	2009-09-01 00:35:02 UTC (rev 23437)
@@ -49,7 +49,7 @@
   sub_command_.shutdown();
 }
 
-bool JointEffortController::init(mechanism::RobotState *robot, const std::string &joint_name)
+bool JointEffortController::init(pr2_mechanism::RobotState *robot, const std::string &joint_name)
 {
   if (!robot)
   {
@@ -69,7 +69,7 @@
   return true;
 }
 
-bool JointEffortController::initXml(mechanism::RobotState *robot, TiXmlElement *config)
+bool JointEffortController::initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config)
 {
   if (!robot)
   {
@@ -91,7 +91,7 @@
 
 }
 
-bool JointEffortController::init(mechanism::RobotState *robot, const ros::NodeHandle &n)
+bool JointEffortController::init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n)
 {
   assert(robot);
   node_ = n;

Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/joint_position_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/joint_position_controller.cpp	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/joint_position_controller.cpp	2009-09-01 00:35:02 UTC (rev 23437)
@@ -52,7 +52,7 @@
 {
 }
 
-bool JointPositionController::init(mechanism::RobotState *robot, const std::string &joint_name,
+bool JointPositionController::init(pr2_mechanism::RobotState *robot, const std::string &joint_name,
 				   const control_toolbox::Pid &pid)
 {
   assert(robot);
@@ -72,7 +72,7 @@
   return true;
 }
 
-bool JointPositionController::initXml(mechanism::RobotState *robot, TiXmlElement *config)
+bool JointPositionController::initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config)
 {
   initialized_ = false;
   assert(robot);
@@ -99,7 +99,7 @@
   return init(robot, joint_name, pid);
 }
 
-bool JointPositionController::init(mechanism::RobotState *robot, const ros::NodeHandle &n)
+bool JointPositionController::init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n)
 {
   assert(robot);
   node_ = n;
@@ -168,12 +168,12 @@
     command_ = joint_state_->position_;
   }
 
-  if(joint_state_->joint_->type_ == mechanism::JOINT_ROTARY)
+  if(joint_state_->joint_->type_ == pr2_mechanism::JOINT_ROTARY)
   {
     angles::shortest_angular_distance_with_limits(command_, joint_state_->position_, joint_state_->joint_->joint_limit_min_, joint_state_->joint_->joint_limit_max_,error);
 
   }
-  else if(joint_state_->joint_->type_ == mechanism::JOINT_CONTINUOUS)
+  else if(joint_state_->joint_->type_ == pr2_mechanism::JOINT_CONTINUOUS)
   {
     error = angles::shortest_angular_distance(command_, joint_state_->position_);
   }

Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/joint_ud_calibration_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/joint_ud_calibration_controller.cpp	2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/joint_ud_calibration_controller.cpp	2009-09-01 00:35:02 UTC (rev 23437)
@@ -52,7 +52,7 @@
 {
 }
 
-bool JointUDCalibrationController::initXml(mechanism::RobotState *robot, TiXmlElement *config)
+bool JointUDCalibrationController::initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config)
 {
   assert(robot);
   assert(config);
@@ -113,7 +113,7 @@
   return true;
 }
 
-bool JointUDCalibrationController::init(mechanism::RobotState *robot, const ros::NodeHandle &n)
+bool JointUDCalibrationController::init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n)
 {
   robot_ = robot;
   node_ = n;
@@ -214,10 +214,10 @@
 
     if (actuator_->state_.calibration_reading_)
     {...
 
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