[Personalrobots-commit] SF.net SVN: personalrobots:[23742] pkg/trunk/stacks/pr2/pr2_alpha

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Revision: 23742
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23742&view=rev
Author:   wattsk
Date:     2009-09-03 02:27:10 +0000 (Thu, 03 Sep 2009)

Log Message:
-----------
New launch file for PRG with servers

Modified Paths:
--------------
    pkg/trunk/stacks/pr2/pr2_alpha/pre.launch
    pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
    pkg/trunk/stacks/pr2/pr2_alpha/prg.machine

Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre.launch
===================================================================

--- pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-09-03 02:20:18 UTC (rev 23741)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-09-03 02:27:10 UTC (rev 23742)
@@ -5,10 +5,10 @@
 
 
 <!-- PS3 joystick for A2 servers on PRE -->
-<!-- Watts Commenting out until joystick driver works all the way, and python dev selector is tested. Launch joy with joy/ps3.launch
+<!-- Watts Commenting out until joystick driver works all the way, and python dev selector is tested. Launch joy with teleop_ps3.launch from machine two
   <node machine="realtime" pkg="ps3joy" type="ps3_joy_node" name="joy" respawn="true" >
     <param name="deadzone" value="0.10" />
-    <param name="dev" value="/dev/input/js1" />
+    <param name="dev" value="/dev/sensors/ps3joy" />
   </node>
 -->
 

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-09-03 02:20:18 UTC (rev 23741)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-09-03 02:27:10 UTC (rev 23742)
@@ -3,12 +3,15 @@
   <include file="$(find pr2_alpha)/prg.machine" />
   <include file="$(find pr2_alpha)/prg_ethercat_reset.launch" />
 
-<!-- Joystick -->
-  <param name="joy/deadzone" value="5000"/> 
-  <node machine="four" pkg="joy" type="joy"  respawn="true"/> 
+  <!-- Watts Commenting out until joystick driver works all the way, and python dev selector is tested. Launch joy with teleop_ps3.launch from machine two.
+  <node machine="realtime" pkg="ps3joy" type="ps3_joy_node" name="joy" respawn="true" >
+    <param name="deadzone" value="0.10" />
+    <param name="dev" value="/dev/sensors/ps3joy" />
+  </node>
+-->
 
 <!-- Power Board Control Node -->
-  <param name="power_board_serial" value="1007"/>  
+  <param name="power_board_serial" value="1023"/>  
   <node pkg="pr2_power_board" type="power_node"  respawn="true"/>
 
 <!-- Robot state publisher -->
@@ -40,7 +43,6 @@
 
 
 <!-- Tilt Laser -->
-
   <node  machine="realtime" pkg="hokuyo_node" type="hokuyo_node" name="tilt_hokuyo_node" args="scan:=tilt_scan">
     <param name="port" type="string" value="/dev/ttyACM0" />
     <param name="frameid" type="string" value="laser_tilt_link" />
@@ -57,7 +59,7 @@
   <param name="imu/frameid"  type="string" value="imu" />
   <param name="imu/angular_velocity_stdev" type="double" value="0.00017" />
   <param name="imu/autocalibrate" type="bool" value="true" />
-  <node machine="four" pkg="imu_node" type="imu_node" output="screen"/>
+  <node machine="realtime" pkg="imu_node" type="imu_node" output="screen"/>
 
 <!-- Prosilica camera setup -->
   <!--group ns="prosilica">
@@ -65,11 +67,12 @@
     <param name="acquisition_mode" type="str" value="Triggered"/>
     <param name="ip_address" type="str" value="10.68.7.20"/>
   </group>
-
   <node machine="three" name="prosilica" pkg="prosilica_camera" type="prosilica_node" output="screen" respawn="true"/-->
 
+  <!-- Watts: Need to get driver working for stereo on servers -->
 <!-- Double stereo setup -->
-  <!-- Wide is on robot right, goes to four -->
+<!-- Wide is on robot right, goes to four -->
+<!--
   <group ns="wide_stereo">
     <node machine="four" pkg="dcam" type="stereodcam" name="stereodcam" respawn="false" >
       <param name="videre_mode" type="str" value="none"/>
@@ -80,8 +83,10 @@
       <param name="gain_auto" type="bool" value="true"/>
     </node>  
   </group>
+  -->
 
-  <!-- Narrow is on robot left, goes to three -->
+<!-- Narrow is on robot left, goes to three -->
+<!--
   <group ns="narrow_stereo">
     <node machine="three" pkg="dcam" type="stereodcam" name="stereodcam" respawn="false" >
       <param name="videre_mode" type="str" value="none"/>
@@ -93,6 +98,7 @@
       <param name="gain_auto" type="bool" value="true"/>
     </node> 
   </group>
+  -->
 
 
 <!-- Forearm Camera -->
@@ -125,12 +131,15 @@
 <!-- NTP monitoring script Warns to console if sync error -->
   <node pkg="pr2_computer_monitor" type="ntp_monitor.py" args="prg2" machine="realtime"/>
   <node pkg="pr2_computer_monitor" type="ntp_monitor.py" args="fw1 7000" machine="two"/> 
-  <node pkg="pr2_computer_monitor" type="ntp_monitor.py" args="prg2" machine="three"/>
-  <node pkg="pr2_computer_monitor" type="ntp_monitor.py" args="prg2" machine="four"/>
 
-<!-- Disk, CPU monitoring scripts. -->
-  <include file="$(find pr2_alpha)/pr2_monitors.launch" />
+  <!-- Disk usage monitoring script Warns to console if disk full -->
+  <node pkg="pr2_computer_monitor" name="realtime_hd_monitor" type="hd_monitor.py" args="$(optenv HOME /home)" machine="realtime"/>
+  <node pkg="pr2_computer_monitor" name="two_hd_monitor" type="hd_monitor.py" args="$(optenv HOME /home)" machine="two"/> 
 
+  <!-- Monitor CPU temp, usage -->
+  <node pkg="pr2_computer_monitor" name="realtime_cpu_monitor" type="cpu_monitor.py" machine="realtime" />
+  <node pkg="pr2_computer_monitor" name="two_cpu_monitor" type="cpu_monitor.py" machine="two" />
+
   <!-- Joint states diagnostics logging -->
   <node pkg="pr2_mechanism_control" type="joints_to_diagnostics.py" machine="realtime" />
 

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg.machine
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg.machine	2009-09-03 02:20:18 UTC (rev 23741)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg.machine	2009-09-03 02:27:10 UTC (rev 23742)
@@ -1,13 +1,7 @@
 <launch>
-  <machine name="realtime_root" user="root" address="prg1" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never">
-    <env name="PATH" value="$(env PATH):$(env ROS_ROOT)/bin" /> <!-- HACK.  Depends on ROS bug #1586.  Remove when closed -->
-  </machine>
+  <machine name="realtime_root" user="root" address="prg1" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never" />
 
+
   <machine name="realtime" address="prg1" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" />
   <machine name="two"      address="prg2" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)"  default="true"/>
-  <machine name="three"    address="prg3" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" />
-  <machine name="four"     address="prg4" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" />
-
-  <!-- Defines the machine that the Videre Stereocam is attached to -->
-  <machine name="stereo"   address="prg4" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" />
 </launch>


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