[Personalrobots-commit] SF.net SVN: personalrobots:[23569] pkg/trunk/stacks

[<hsu...@us...>]

Revision: 23569
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23569&view=rev
Author:   hsujohnhsu
Date:     2009-09-01 18:17:38 +0000 (Tue, 01 Sep 2009)

Log Message:
-----------
moving pr2_ogre into simulator_gazebo stack since rviz no longer needs it.  turn back on mesh generation at build-time.

Modified Paths:
--------------
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/CMakeLists.txt
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/manifest.xml
    pkg/trunk/stacks/simulator_gazebo/stack.xml

Added Paths:
-----------
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/

Removed Paths:
-------------
    pkg/trunk/stacks/pr2_common/pr2_ogre/
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/base.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/caster.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/convex/
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/elbow_flex.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/finger_tip_l.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/finger_tip_r.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/forearm.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/forearm_roll.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/gripper_palm.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/head_pan.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/head_tilt.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/hok_tilt.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/pr2_wheel.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/ptz_base_l.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/ptz_base_r.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/ptz_l.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/ptz_r.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/ptz_top_l.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/ptz_top_r.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/shoulder_lift.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/shoulder_yaw.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/torso.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/upper_arm.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/upper_arm_roll.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/upper_finger_l.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/upper_finger_r.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/wrist_flex.mesh
    pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/wrist_roll.mesh

Modified: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/CMakeLists.txt
===================================================================
--- pkg/trunk/stacks/pr2_common/pr2_ogre/CMakeLists.txt	2009-08-31 16:38:51 UTC (rev 23388)
+++ pkg/trunk/stacks/simulator_gazebo/pr2_ogre/CMakeLists.txt	2009-09-01 18:17:38 UTC (rev 23569)
@@ -2,6 +2,54 @@
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 rospack(pr2_ogre)
 
+# find needed paths
+find_ros_package(pr2_defs)
+find_ros_package(pr2_ogre)
+find_ros_package(ogre)
 
+# build the ogre mesh files from *.stl (and *.stlb from convex decomposition)
+file(GLOB pr2_stl_files ${pr2_defs_PACKAGE_PATH}/meshes/*.stl)
+set(pr2_gen_files "")
 
+set(pr2_out_path ${CMAKE_CURRENT_SOURCE_DIR}/Media/models)
 
+MAKE_DIRECTORY(${pr2_out_path})
+
+foreach(it ${pr2_stl_files})
+  get_filename_component(basename ${it} NAME_WE)
+
+  # convert to ogre files
+  add_custom_command(
+    OUTPUT ${pr2_out_path}/${basename}.mesh
+    COMMAND rosrun 
+    ARGS ogre_tools stl_to_mesh ${it} ${pr2_out_path}/${basename}.mesh
+    DEPENDS ${it})
+  
+  set(pr2_gen_files ${pr2_gen_files} ${pr2_out_path}/${basename}.mesh)
+endforeach(it)
+
+# process convexified mesh files
+file(GLOB pr2_convex_stl_files ${pr2_defs_PACKAGE_PATH}/meshes/convex/*.stlb)
+
+set(pr2_convex_out_path ${CMAKE_CURRENT_SOURCE_DIR}/Media/models/convex)
+
+MAKE_DIRECTORY(${pr2_convex_out_path})
+
+foreach(it ${pr2_convex_stl_files})
+  get_filename_component(basename ${it} NAME_WE)
+
+  # convert to ogre files
+  add_custom_command(
+    OUTPUT ${pr2_convex_out_path}/${basename}.mesh
+    COMMAND rosrun 
+    ARGS ogre_tools stl_to_mesh ${it} ${pr2_convex_out_path}/${basename}.mesh
+    DEPENDS ${it})
+  
+  set(pr2_gen_files ${pr2_gen_files} ${pr2_convex_out_path}/${basename}.mesh)
+endforeach(it)
+
+add_custom_target(media_files ALL DEPENDS ${pr2_gen_files})
+
+
+
+

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/base.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/caster.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/elbow_flex.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/finger_tip_l.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/finger_tip_r.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/forearm.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/forearm_roll.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/gripper_palm.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/head_pan.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/head_tilt.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/hok_tilt.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/pr2_wheel.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/ptz_base_l.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/ptz_base_r.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/ptz_l.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/ptz_r.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/ptz_top_l.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/ptz_top_r.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/shoulder_lift.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/shoulder_yaw.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/torso.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/upper_arm.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/upper_arm_roll.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/upper_finger_l.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/upper_finger_r.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/wrist_flex.mesh
===================================================================
(Binary files differ)

Deleted: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/Media/models/wrist_roll.mesh
===================================================================
(Binary files differ)

Modified: pkg/trunk/stacks/simulator_gazebo/pr2_ogre/manifest.xml
===================================================================
--- pkg/trunk/stacks/pr2_common/pr2_ogre/manifest.xml	2009-08-31 16:38:51 UTC (rev 23388)
+++ pkg/trunk/stacks/simulator_gazebo/pr2_ogre/manifest.xml	2009-09-01 18:17:38 UTC (rev 23569)
@@ -10,7 +10,10 @@
   <license>BSD</license>
   <review status="unreviewed" notes=""/>
   
-  <depend package="pr2_defs" />
+  <depend package="convex_decomposition"/>
+  <depend package="ivcon"/>
+  <depend package="ogre_tools"/>
+
   <url>http://pr.willowgarage.com/wiki/RobotDescriptionFormat</url>
 
 </package>

Modified: pkg/trunk/stacks/simulator_gazebo/stack.xml
===================================================================
--- pkg/trunk/stacks/simulator_gazebo/stack.xml	2009-09-01 18:14:26 UTC (rev 23568)
+++ pkg/trunk/stacks/simulator_gazebo/stack.xml	2009-09-01 18:17:38 UTC (rev 23569)
@@ -10,9 +10,9 @@
 
   <depend stack="geometry"/> <!-- bullet, tf --> 
   <depend stack="ros"/> <!-- roscpp, std_msgs --> 
-  <depend stack="visualization_common"/> <!-- ogre --> 
+  <depend stack="visualization_common"/> <!-- ogre, ogre_tools --> 
   <depend stack="common_msgs"/> <!-- sensor_msgs --> 
   <depend stack="common"/> <!-- sensor_msgs --> 
-  <depend stack="robot_model"/> <!-- sensor_msgs --> 
+  <depend stack="robot_model"/> <!-- sensor_msgs, ivcon, convex_decomposition --> 
 
 </stack>


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