[Personalrobots-commit] SF.net SVN: personalrobots:[23601] pkg/trunk/sandbox/texas

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

Revision: 23601
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23601&view=rev
Author:   wattsk
Date:     2009-09-01 21:16:43 +0000 (Tue, 01 Sep 2009)

Log Message:
-----------
Fixed dallas bot launch file to calibrate

Modified Paths:
--------------
    pkg/trunk/sandbox/texas/manifest.xml
    pkg/trunk/sandbox/texas/texas.launch
    pkg/trunk/sandbox/texas/texas.urdf.xacro

Removed Paths:
-------------
    pkg/trunk/sandbox/texas/texas.xml

Modified: pkg/trunk/sandbox/texas/manifest.xml
===================================================================
--- pkg/trunk/sandbox/texas/manifest.xml	2009-09-01 21:09:41 UTC (rev 23600)
+++ pkg/trunk/sandbox/texas/manifest.xml	2009-09-01 21:16:43 UTC (rev 23601)
@@ -9,6 +9,7 @@
   <depend package="pr2_defs"/>
   <depend package="pr2_mechanism_msgs" />
   <depend package="pr2_mechanism_controllers" />
+  <depend package="mechanism_bringup" />
 </package>
 
 

Modified: pkg/trunk/sandbox/texas/texas.launch
===================================================================
--- pkg/trunk/sandbox/texas/texas.launch	2009-09-01 21:09:41 UTC (rev 23600)
+++ pkg/trunk/sandbox/texas/texas.launch	2009-09-01 21:16:43 UTC (rev 23601)
@@ -1,20 +1,17 @@
 <launch>
-  
   <machine name="realtime_root" user="root" address="texas" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never"/>
   <machine name="realtime" address="texas" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="true"/>
 
-  <!-- Uses special defs file for Alpha 2.0 hardware on PRE -->
-  <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find texas)/texas.xml'" />
-
   <!-- Definitions for calibration controllers -->
   <rosparam command="load" file="$(find pr2_default_controllers)/pr2_calibration_controllers.yaml" />
   <node pkg="mechanism_bringup" type="calibrate.py" args="cal_caster_bl"/>
 
-<!-- pr2_etherCAT -->
-  <node machine="realtime_root" pkg="pr2_etherCAT" type="pr2_etherCAT" args="-i eth0 -x /robotdesc/pr2" output="screen"/>
+  <!-- Uses special defs file for DallasBot -->
+  <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find texas)/texas.urdf.xacro'" />
+  <!-- pr2_etherCAT -->
+  <node machine="realtime_root" pkg="pr2_etherCAT" type="pr2_etherCAT" args="-i eth0 -x robotdesc/pr2" output="screen"/>
 
-<!-- Runtime Diagnostics Logging -->
+  <!-- Runtime Diagnostics Logging -->
   <node pkg="rosrecord" type="rosrecord" args="-f /hwlog/pre_runtime_automatic /diagnostics" />
-
 </launch>
 

Modified: pkg/trunk/sandbox/texas/texas.urdf.xacro
===================================================================
--- pkg/trunk/sandbox/texas/texas.urdf.xacro	2009-09-01 21:09:41 UTC (rev 23600)
+++ pkg/trunk/sandbox/texas/texas.urdf.xacro	2009-09-01 21:16:43 UTC (rev 23601)
@@ -3,9 +3,9 @@
   <include filename="$(find pr2_defs)/defs/base/base_defs.urdf.xacro" />
   <include filename="$(find pr2_defs)/defs/materials.urdf.xacro" />
 
-<pr2_caster suffix="bl" parent="base_link">
-      <origin xyz="0 0 0" rpy="0 0 0" />
-</pr2_caster>
+  <pr2_caster suffix="bl" parent="base_link" ref_position="-0.785">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </pr2_caster>
 
   <!-- Solid Base for visualizer -->
   <joint name="base_joint" type="planar">

Deleted: pkg/trunk/sandbox/texas/texas.xml
===================================================================
--- pkg/trunk/sandbox/texas/texas.xml	2009-09-01 21:09:41 UTC (rev 23600)
+++ pkg/trunk/sandbox/texas/texas.xml	2009-09-01 21:16:43 UTC (rev 23601)
@@ -1,40 +0,0 @@
-<robot name="texas">
-  <include filename="$(find pr2_defs)/calibration/default_cal.xml" />
-  <include filename="$(find pr2_defs)/defs/base_defs.xml" />
-
-<pr2_caster suffix="bl" parent="base_link" ref_position="-0.785" >
-      <origin xyz="-0.43 0 0" rpy="0 0 0" />
-</pr2_caster>
-
-  <!-- Solid Base for visualizer -->
-  <joint name="base_joint" type="planar" />
-
-  <link name="base_link">
-    <parent name=" world" />
-    <origin xyz=" 0 0 1 " rpy=" 0 0 0" /> 
-    <joint name="base_joint" />
-    <inertial>
-      <mass value="100" />
-      <com xyz=" 0 0 0 " /> 
-      <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 -1" rpy="0 0 0 " /> 
-      <map name="gazebo_material" flag="gazebo">
-        <elem key="material">Gazebo/White</elem>
-      </map>
-      <geometry name="pr2_base_mesh_file">
-        <mesh scale="20 20 0.01" />
-      </geometry>
-    </visual>
-    <collision>
-      <origin xyz="0 0 -1" rpy="0.0 0.0 0.0 " />
-      <geometry name="base_collision_geom">
-        <box size="20 20 0.01" />
-      </geometry>
-    </collision>
-  </link>
-
-
-</robot>
-


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