[Personalrobots-commit] SF.net SVN: personalrobots:[23460] pkg/trunk/sandbox/texas

[<wa...@us...>]

Revision: 23460
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23460&view=rev
Author:   wattsk
Date:     2009-09-01 03:00:53 +0000 (Tue, 01 Sep 2009)

Log Message:
-----------
Use texas.launch, ps3_drive.launch, /joy/joy

Modified Paths:
--------------
    pkg/trunk/sandbox/texas/dallas_base_controller.yaml
    pkg/trunk/sandbox/texas/texas.launch

Added Paths:
-----------
    pkg/trunk/sandbox/texas/ps3_drive.launch

Modified: pkg/trunk/sandbox/texas/dallas_base_controller.yaml
===================================================================
--- pkg/trunk/sandbox/texas/dallas_base_controller.yaml	2009-09-01 02:57:08 UTC (rev 23459)
+++ pkg/trunk/sandbox/texas/dallas_base_controller.yaml	2009-09-01 03:00:53 UTC (rev 23460)
@@ -31,7 +31,7 @@
 kp_caster_steer: 40.0
 timeout: 0.4
 max_accel: 
- ax: 0.5
+ ax: 1.0
  ay: 2.0 
  alphaz: 2.0
 
@@ -43,4 +43,4 @@
  omegaz: 2.0
 
 cmd_topic:
- /cmd_vel
\ No newline at end of file
+ /cmd_vel

Added: pkg/trunk/sandbox/texas/ps3_drive.launch
===================================================================
--- pkg/trunk/sandbox/texas/ps3_drive.launch	                        (rev 0)
+++ pkg/trunk/sandbox/texas/ps3_drive.launch	2009-09-01 03:00:53 UTC (rev 23460)
@@ -0,0 +1,46 @@
+<launch>
+
+   <rosparam command="load" file="$(find texas)/dallas_base_controller.yaml" ns="pr2_base_controller" />
+  <node pkg="mechanism_control" type="spawner.py" args="pr2_base_controller" />
+
+  
+  <group name="ps3_teleop">
+    <!-- Axes -->
+    <param name="axis_vx" value="3" type="int"/>
+    <param name="axis_vy" value="-1" type="int"/>
+    <param name="axis_vw" value="2" type="int"/>
+    <param name="axis_pan" value="0" type="int"/>
+    <param name="axis_tilt" value="3" type="int"/>
+    
+    <!-- Base velocities -->
+    <param name="max_vw" value="0.8" />
+    <param name="max_vx" value="0.5" />
+    <param name="max_vy" value="0.5" />
+    <param name="max_vw_run" value="1.4" />
+    <param name="max_vx_run" value="1.0" />
+    <param name="max_vy_run" value="1.0" />
+    
+    <!-- Head -->
+    <param name="max_pan" value="2.7" />
+    <param name="max_tilt" value="1.4" />
+    <param name="min_tilt" value="-0.4" />
+    <param name="tilt_step" value="0.015" />
+    <param name="pan_step" value="0.02" />
+    
+    <!-- Buttons have changed for PS3 controller mapping -->
+    <param name="run_button" value="11" type="int" />
+    <param name="torso_dn_button" value="14" type="int" />
+    <param name="torso_up_button" value="12" type="int" />
+    <param name="head_button" value="8" type="int" />
+    <param name="deadman_button" value="10" type="int"/>
+    
+    <param name="walk_vel" value="0.20" />
+    <param name="run_vel" value="0.5" />
+    <param name="yaw_rate" value="0.3" />
+    <param name="yaw_run_rate" value="1.5" />
+    <node pkg="teleop_pr2" type="teleop_pr2" output="screen">
+    </node>
+
+  </group>
+</launch>
+

Modified: pkg/trunk/sandbox/texas/texas.launch
===================================================================
--- pkg/trunk/sandbox/texas/texas.launch	2009-09-01 02:57:08 UTC (rev 23459)
+++ pkg/trunk/sandbox/texas/texas.launch	2009-09-01 03:00:53 UTC (rev 23460)
@@ -13,8 +13,6 @@
 <!-- pr2_etherCAT -->
   <node machine="realtime_root" pkg="pr2_etherCAT" type="pr2_etherCAT" args="-i eth0 -x /robotdesc/pr2" output="screen"/>
 
-  <node pkg="pr2_mechanism_control" type="spawner.py" args="pr2_base_controller" />
-
 <!-- Runtime Diagnostics Logging -->
   <node pkg="rosrecord" type="rosrecord" args="-f /hwlog/pre_runtime_automatic /diagnostics" />
 


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