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[Personalrobots-commit] SF.net SVN: personalrobots:[23758] pkg/trunk
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From: <hsu...@us...> - 2009-09-03 08:49:37
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Revision: 23758
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23758&view=rev
Author: hsujohnhsu
Date: 2009-09-03 08:49:27 +0000 (Thu, 03 Sep 2009)
Log Message:
-----------
URDF XML ROS parameter name change: robot_description_new --> robot_description
Modified Paths:
--------------
pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/rviz/move_base.vcg
pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/rviz/move_base_local.vcg
pkg/trunk/demos/door_demos_gazebo/launch/pr2_and_door.launch
pkg/trunk/demos/milestone2/milestone2_tests/test/test_controllers_load.launch
pkg/trunk/demos/plug_in_gazebo/launch/pr2_plug_outlet.launch
pkg/trunk/highlevel/move_arm/launch/arm_cmd_line.launch
pkg/trunk/highlevel/move_arm/launch/move_rarm.launch
pkg/trunk/motion_planning/pr2_ik/launch/pr2_ik_controller.launch
pkg/trunk/motion_planning/pr2_ik/src/pr2_ik_solver.cpp
pkg/trunk/motion_planning/pr2_ik/test_pr2_ik.xml
pkg/trunk/sandbox/3dnav_pr2/launch/perception/bits/collision_map_self_occ.launch
pkg/trunk/sandbox/3dnav_pr2/launch/perception/bits/tilt_laser_self_filter.launch
pkg/trunk/sandbox/3dnav_pr2/launch/perception/laser-perception.launch
pkg/trunk/sandbox/3dnav_pr2/launch/planning/bits/fake_planning.launch
pkg/trunk/sandbox/3dnav_pr2/launch/planning/bits/ompl_planning.launch
pkg/trunk/sandbox/3dnav_pr2/launch/planning/bits/ompl_search.launch
pkg/trunk/sandbox/m3_simulator/pr2_sensorless.launch
pkg/trunk/sandbox/pr2_gripper_controller/launch/gripper.launch
pkg/trunk/stacks/pr2/pr2_alpha/pre_ethercat_reset.launch
pkg/trunk/stacks/pr2/pr2_alpha/prf_ethercat_reset.launch
pkg/trunk/stacks/pr2/pr2_alpha/prg_ethercat_reset.launch
pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_hca.launch
pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_hcb.launch
pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_hcc.launch
pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_l_arm.launch
pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_l_gripper.launch
pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_laser_tilt.launch
pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_pr2.launch
pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_pre.launch
pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_prf.launch
pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_prg.launch
pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_prototype1.launch
pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_r_arm.launch
pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_r_gripper.launch
pkg/trunk/stacks/pr2_simulator/pr2_arm_gazebo/l_arm.launch
pkg/trunk/stacks/pr2_simulator/pr2_arm_gazebo/l_gripper.launch
pkg/trunk/stacks/pr2_simulator/pr2_arm_gazebo/r_arm.launch
pkg/trunk/stacks/pr2_simulator/pr2_arm_gazebo/r_arm_grasping_demo.launch
pkg/trunk/stacks/pr2_simulator/pr2_arm_gazebo/r_gripper.launch
pkg/trunk/stacks/pr2_simulator/pr2_examples_gazebo/dual_link.launch
pkg/trunk/stacks/pr2_simulator/pr2_gazebo/head_cart.launch
pkg/trunk/stacks/pr2_simulator/pr2_gazebo/pr2.launch
pkg/trunk/stacks/pr2_simulator/pr2_gazebo/prf.launch
pkg/trunk/stacks/pr2_simulator/pr2_gazebo/prototype1.launch
pkg/trunk/stacks/pr2_simulator/pr2_gazebo/rviz/map.vcg
pkg/trunk/stacks/pr2_simulator/pr2_gazebo_plugins/src/gazebo_mechanism_control.cpp
pkg/trunk/stacks/pr2_simulator/test_pr2_collision_gazebo/test_slide.launch
pkg/trunk/stacks/pr2_simulator/test_pr2_sensors_gazebo/test_camera.launch
pkg/trunk/stacks/pr2_simulator/test_pr2_sensors_gazebo/test_scan.launch
pkg/trunk/stacks/robot_model/robot_state_publisher/src/state_publisher.cpp
pkg/trunk/stacks/simulator_gazebo/gazebo_tools/src/spawn_urdf.cpp
Modified: pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/rviz/move_base.vcg
===================================================================
--- pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/rviz/move_base.vcg 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/rviz/move_base.vcg 2009-09-03 08:49:27 UTC (rev 23758)
@@ -150,7 +150,7 @@
Robot\ Model.Alpha=0.5
Robot\ Model.Collision\ Enabled=0
Robot\ Model.Enabled=1
-Robot\ Model.Robot\ Description=robot_description_new
+Robot\ Model.Robot\ Description=robot_description
Robot\ Model.Update\ Rate=0.1
Robot\ Model.Visual\ Enabled=1
Robot\:\ Robot\ Model\ Link\ base_laserShow\ Axes=0
Modified: pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/rviz/move_base_local.vcg
===================================================================
--- pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/rviz/move_base_local.vcg 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/rviz/move_base_local.vcg 2009-09-03 08:49:27 UTC (rev 23758)
@@ -150,7 +150,7 @@
Robot\ Model.Alpha=0.5
Robot\ Model.Collision\ Enabled=0
Robot\ Model.Enabled=1
-Robot\ Model.Robot\ Description=robot_description_new
+Robot\ Model.Robot\ Description=robot_description
Robot\ Model.Update\ Rate=0.1
Robot\ Model.Visual\ Enabled=1
Robot\:\ Robot\ Model\ Link\ base_laserShow\ Axes=0
Modified: pkg/trunk/demos/door_demos_gazebo/launch/pr2_and_door.launch
===================================================================
--- pkg/trunk/demos/door_demos_gazebo/launch/pr2_and_door.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/demos/door_demos_gazebo/launch/pr2_and_door.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -5,7 +5,7 @@
<!-- load prf -->
<include file="$(find pr2_defs)/launch/upload_prf.launch" />
- <node pkg="gazebo_tools" type="urdf2factory" args="robot_description_new" respawn="false" />
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" />
<!-- Robot state publisher -->
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
Modified: pkg/trunk/demos/milestone2/milestone2_tests/test/test_controllers_load.launch
===================================================================
--- pkg/trunk/demos/milestone2/milestone2_tests/test/test_controllers_load.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/demos/milestone2/milestone2_tests/test/test_controllers_load.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -2,7 +2,7 @@
<include file="$(find pr2_defs)/launch/upload_pr2.launch" />
<include file="$(find milestone2_actions)/config/controllers.xml" />
- <node pkg="mechanism_control_test" type="mechanism_controller_test" args="-x /robot_description_new" />
+ <node pkg="mechanism_control_test" type="mechanism_controller_test" args="-x /robot_description" />
<test test-name="test_controllers_loaded" pkg="mechanism_control_test" type="test_controllers_loaded.py"
args="pr2_base_controller pr2_base_odometry head_controller r_gripper_effort_controller r_gripper_position_controller torso_lift_velocity_controller r_arm_constraint_cartesian_wrench_controller r_arm_constraint_cartesian_twist_controller r_arm_constraint_cartesian_pose_controller r_arm_constraint_cartesian_trajectory_controller r_arm_cartesian_tff_controller r_arm_cartesian_wrench_controller r_arm_cartesian_twist_controller r_arm_cartesian_pose_controller r_arm_cartesian_trajectory_controller r_arm_hybrid_controller laser_tilt_controller r_arm_joint_trajectory_controller" />
Modified: pkg/trunk/demos/plug_in_gazebo/launch/pr2_plug_outlet.launch
===================================================================
--- pkg/trunk/demos/plug_in_gazebo/launch/pr2_plug_outlet.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/demos/plug_in_gazebo/launch/pr2_plug_outlet.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -5,7 +5,7 @@
<!-- send pr2.xml to param server -->
<!-- push urdfs to factory and spawn robot in gazebo -->
<include file="$(find pr2_defs)/launch/upload_prf.launch" />
- <node pkg="gazebo_tools" type="urdf2factory" args="robot_description_new" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
<param name="plug_description" command="$(find xacro)/xacro.py '$(find plug_in_gazebo)/robots/plug_only.xacro.xml'" />
<node pkg="gazebo_tools" type="urdf2factory" args="plug_description" respawn="false" output="screen" />
Modified: pkg/trunk/highlevel/move_arm/launch/arm_cmd_line.launch
===================================================================
--- pkg/trunk/highlevel/move_arm/launch/arm_cmd_line.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/highlevel/move_arm/launch/arm_cmd_line.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -1,6 +1,6 @@
<launch>
<node pkg="move_arm" type="arm_cmd_line" output="screen" args="right">
- <remap from="robot_description" to="robot_description_new" />
+ <remap from="robot_description" to="robot_description" />
<remap from="arm_ik" to="pr2_ik_right_arm/ik_service" />
</node>
</launch>
Modified: pkg/trunk/highlevel/move_arm/launch/move_rarm.launch
===================================================================
--- pkg/trunk/highlevel/move_arm/launch/move_rarm.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/highlevel/move_arm/launch/move_rarm.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -1,7 +1,7 @@
<launch>
<node pkg="move_arm" type="move_arm_action" output="screen" name="move_right_arm">
- <remap from="robot_description" to="robot_description_new" />
+ <remap from="robot_description" to="robot_description" />
<remap from="collision_map" to="collision_map_occ" />
<remap from="collision_map_update" to="collision_map_occ_update" />
Modified: pkg/trunk/motion_planning/pr2_ik/launch/pr2_ik_controller.launch
===================================================================
--- pkg/trunk/motion_planning/pr2_ik/launch/pr2_ik_controller.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/motion_planning/pr2_ik/launch/pr2_ik_controller.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -3,7 +3,7 @@
<param name="tip_name" value="r_wrist_roll_link" />
<param name="root_name" value="torso_lift_link" />
<param name="free_angle" value="2" type="int"/>
- <param name="urdf_xml" value="/robot_description_new"/>
+ <param name="urdf_xml" value="/robot_description"/>
<param name="free_angle_constraint" value="false"/>
<param name="free_angle_constraint_min" value="-0.5"/>
Modified: pkg/trunk/motion_planning/pr2_ik/src/pr2_ik_solver.cpp
===================================================================
--- pkg/trunk/motion_planning/pr2_ik/src/pr2_ik_solver.cpp 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/motion_planning/pr2_ik/src/pr2_ik_solver.cpp 2009-09-03 08:49:27 UTC (rev 23758)
@@ -45,7 +45,7 @@
active_ = false;
int free_angle;
std::string urdf_xml,full_urdf_xml;
- node_handle_.param("~urdf_xml", urdf_xml,std::string("robot_description_new"));
+ node_handle_.param("~urdf_xml", urdf_xml,std::string("robot_description"));
node_handle_.searchParam(urdf_xml,full_urdf_xml);
Modified: pkg/trunk/motion_planning/pr2_ik/test_pr2_ik.xml
===================================================================
--- pkg/trunk/motion_planning/pr2_ik/test_pr2_ik.xml 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/motion_planning/pr2_ik/test_pr2_ik.xml 2009-09-03 08:49:27 UTC (rev 23758)
@@ -1,6 +1,6 @@
<launch>
<!-- load robot -->
- <param name="robot_description_new" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.urdf.xacro'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.urdf.xacro'" />
<!-- test -->
<test test-name="pr2_ik_test" pkg="pr2_ik" type="pr2_ik_regression_test" time-limit="180" >
Modified: pkg/trunk/sandbox/3dnav_pr2/launch/perception/bits/collision_map_self_occ.launch
===================================================================
--- pkg/trunk/sandbox/3dnav_pr2/launch/perception/bits/collision_map_self_occ.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/sandbox/3dnav_pr2/launch/perception/bits/collision_map_self_occ.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -4,7 +4,7 @@
<node machine="four" pkg="collision_map" type="collision_map_self_occ_node" name="collision_map_self_occ_node" respawn="true" output="screen">
- <remap from="robot_description" to="robot_description_new" />
+ <remap from="robot_description" to="robot_description" />
<remap from="cloud_in" to="full_cloud_filtered" />
<remap from="cloud_incremental_in" to="tilt_scan_cloud_filtered" />
Modified: pkg/trunk/sandbox/3dnav_pr2/launch/perception/bits/tilt_laser_self_filter.launch
===================================================================
--- pkg/trunk/sandbox/3dnav_pr2/launch/perception/bits/tilt_laser_self_filter.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/sandbox/3dnav_pr2/launch/perception/bits/tilt_laser_self_filter.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -1,7 +1,7 @@
<launch>
<node pkg="robot_self_filter" type="self_filter" respawn="true" name="robot_self_filter" output="screen">
- <remap from="robot_description" to="robot_description_new" />
+ <remap from="robot_description" to="robot_description" />
<!-- The topic for the input cloud -->
<remap from="cloud_in" to="tilt_scan_cloud_without_known_objects" />
Modified: pkg/trunk/sandbox/3dnav_pr2/launch/perception/laser-perception.launch
===================================================================
--- pkg/trunk/sandbox/3dnav_pr2/launch/perception/laser-perception.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/sandbox/3dnav_pr2/launch/perception/laser-perception.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -18,7 +18,7 @@
<!-- remove points corresponding to known objects -->
<node machine="three" pkg="planning_environment" type="clear_known_objects" name="clear_known_objects" respawn="true" output="screen">
- <remap from="robot_description" to="robot_description_new" />
+ <remap from="robot_description" to="robot_description" />
<!-- define a frame that stays fixed for the known objects -->
<!-- <param name="fixed_frame" type="string" value="/odom_combined" /> -->
Modified: pkg/trunk/sandbox/3dnav_pr2/launch/planning/bits/fake_planning.launch
===================================================================
--- pkg/trunk/sandbox/3dnav_pr2/launch/planning/bits/fake_planning.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/sandbox/3dnav_pr2/launch/planning/bits/fake_planning.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -3,7 +3,7 @@
<include file="$(find 3dnav_pr2)/launch/prX.machine" />
<node machine="two" pkg="fake_motion_planning" type="fake_motion_planner" respawn="true" output="screen">
- <remap from="robot_description" to="robot_description_new" />
+ <remap from="robot_description" to="robot_description" />
</node>
</launch>
Modified: pkg/trunk/sandbox/3dnav_pr2/launch/planning/bits/ompl_planning.launch
===================================================================
--- pkg/trunk/sandbox/3dnav_pr2/launch/planning/bits/ompl_planning.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/sandbox/3dnav_pr2/launch/planning/bits/ompl_planning.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -3,7 +3,7 @@
<include file="$(find pr2_alpha)/$(env ROBOT).machine" />
<node machine="two" pkg="ompl_planning" type="motion_planner" respawn="true" output="screen">
- <remap from="robot_description" to="robot_description_new" />
+ <remap from="robot_description" to="robot_description" />
<remap from="collision_map" to="collision_map_occ" />
<remap from="collision_map_update" to="collision_map_occ_update" />
Modified: pkg/trunk/sandbox/3dnav_pr2/launch/planning/bits/ompl_search.launch
===================================================================
--- pkg/trunk/sandbox/3dnav_pr2/launch/planning/bits/ompl_search.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/sandbox/3dnav_pr2/launch/planning/bits/ompl_search.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -4,7 +4,7 @@
<node machine="two" pkg="ompl_search" type="search_state" name="ompl_search" respawn="true" output="screen">
- <remap from="robot_description" to="robot_description_new" />
+ <remap from="robot_description" to="robot_description" />
<remap from="collision_map" to="collision_map_occ" />
<remap from="collision_map_update" to="collision_map_occ_update" />
Modified: pkg/trunk/sandbox/m3_simulator/pr2_sensorless.launch
===================================================================
--- pkg/trunk/sandbox/m3_simulator/pr2_sensorless.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/sandbox/m3_simulator/pr2_sensorless.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -1,9 +1,9 @@
<launch>
<!-- send pr2 urdf to param server -->
- <param name="robot_description_new" command="$(find xacro)/xacro.py '$(find m3_simulator)/pr2_sensorless.urdf.xacro'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find m3_simulator)/pr2_sensorless.urdf.xacro'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
- <node pkg="gazebo_tools" type="urdf2factory" args="robot_description_new" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
<!-- Robot state publisher -->
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" output="screen">
Modified: pkg/trunk/sandbox/pr2_gripper_controller/launch/gripper.launch
===================================================================
--- pkg/trunk/sandbox/pr2_gripper_controller/launch/gripper.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/sandbox/pr2_gripper_controller/launch/gripper.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -1,8 +1,8 @@
<launch>
<!-- this appears to be outdated, MP is probably working off a local copy -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_gripper_controller)/launch/gripper.xml'" />
- <param name="robot_description_new" command="$(find xacro)/xacro.py '$(find pr2_gripper_controller)/launch/gripper.urdf.xacro'" />
+ <param name="robot_description_old" command="$(find xacro)/xacro.py '$(find pr2_gripper_controller)/launch/gripper.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_gripper_controller)/launch/gripper.urdf.xacro'" />
<!-- Loads realtime machine and PR2_etherCAT -->
<include file="$(find pr2_gripper_controller)/launch/init.machine" />
Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre_ethercat_reset.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre_ethercat_reset.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre_ethercat_reset.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -5,7 +5,7 @@
<include file="$(find pr2_alpha)/pre.machine" />
<!-- pr2_etherCAT -->
- <node machine="realtime_root" pkg="pr2_etherCAT" type="pr2_etherCAT" args="-i ecat0 -x /robot_description_new"/>
+ <node machine="realtime_root" pkg="pr2_etherCAT" type="pr2_etherCAT" args="-i ecat0 -x /robot_description"/>
<rosparam command="load" file="$(find pr2_default_controllers)/pr2_calibration_controllers.yaml" />
<rosparam command="load" file="$(find pr2_default_controllers)/pr2_joint_position_controllers.yaml" />
Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf_ethercat_reset.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf_ethercat_reset.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf_ethercat_reset.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -9,7 +9,7 @@
<include file="$(find pr2_alpha)/prf.machine" />
<!-- pr2_etherCAT -->
- <node machine="realtime_root" pkg="pr2_etherCAT" type="pr2_etherCAT" args="-i eth0 -x robot_description_new"/>
+ <node machine="realtime_root" pkg="pr2_etherCAT" type="pr2_etherCAT" args="-i eth0 -x robot_description"/>
<!-- PR2 Calibration -->
<rosparam command="load" file="$(find pr2_default_controllers)/pr2_calibration_controllers.yaml" />
Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg_ethercat_reset.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg_ethercat_reset.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg_ethercat_reset.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -9,7 +9,7 @@
<include file="$(find pr2_alpha)/prg.machine" />
<!-- pr2_etherCAT -->
- <node machine="realtime_root" pkg="pr2_etherCAT" type="pr2_etherCAT" args="-i eth0 -x robot_description_new"/>
+ <node machine="realtime_root" pkg="pr2_etherCAT" type="pr2_etherCAT" args="-i eth0 -x robot_description"/>
<!-- PR2 Calibration -->
Modified: pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_hca.launch
===================================================================
--- pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_hca.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_hca.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -1,6 +1,6 @@
<launch>
<!-- send hca urdf to param server -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/hca.xacro.xml'" />
- <param name="robot_description_new" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/hca.urdf.xacro'" />
+ <param name="robot_description_old" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/hca.xacro.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/hca.urdf.xacro'" />
</launch>
Modified: pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_hcb.launch
===================================================================
--- pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_hcb.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_hcb.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -1,6 +1,6 @@
<launch>
<!-- send hcb urdf to param server -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/hcb.xacro.xml'" />
- <param name="robot_description_new" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/hcb.urdf.xacro'" />
+ <param name="robot_description_old" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/hcb.xacro.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/hcb.urdf.xacro'" />
</launch>
Modified: pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_hcc.launch
===================================================================
--- pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_hcc.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_hcc.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -1,6 +1,6 @@
<launch>
<!-- send hcc urdf to param server -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/hcc.xacro.xml'" />
- <param name="robot_description_new" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/hcc.urdf.xacro'" />
+ <param name="robot_description_old" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/hcc.xacro.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/hcc.urdf.xacro'" />
</launch>
Modified: pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_l_arm.launch
===================================================================
--- pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_l_arm.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_l_arm.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -1,5 +1,5 @@
<launch>
<!-- send pr2 left arm urdf to param server -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/l_arm.xacro.xml'" />
- <param name="robot_description_new" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/l_arm.urdf.xacro'" />
+ <param name="robot_description_old" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/l_arm.xacro.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/l_arm.urdf.xacro'" />
</launch>
Modified: pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_l_gripper.launch
===================================================================
--- pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_l_gripper.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_l_gripper.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -1,6 +1,6 @@
<launch>
<!-- send l_gripper urdf to param server -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/l_gripper.xacro.xml'" />
- <param name="robot_description_new" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/l_gripper.urdf.xacro'" />
+ <param name="robot_description_old" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/l_gripper.xacro.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/l_gripper.urdf.xacro'" />
</launch>
Modified: pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_laser_tilt.launch
===================================================================
--- pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_laser_tilt.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_laser_tilt.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -1,5 +1,5 @@
<launch>
<!-- send pr2 left arm urdf to param server -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/laser_tilt.xacro.xml'" />
- <param name="robot_description_new" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/laser_tilt.urdf.xacro'" />
+ <param name="robot_description_old" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/laser_tilt.xacro.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/laser_tilt.urdf.xacro'" />
</launch>
Modified: pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_pr2.launch
===================================================================
--- pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_pr2.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_pr2.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -1,5 +1,5 @@
<launch>
<!-- send pr2 urdf to param server -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
- <param name="robot_description_new" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.urdf.xacro'" />
+ <param name="robot_description_old" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.urdf.xacro'" />
</launch>
Modified: pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_pre.launch
===================================================================
--- pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_pre.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_pre.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -1,6 +1,6 @@
<launch>
<!-- send pre urdf to param server -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pre.xacro.xml'" />
- <param name="robot_description_new" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pre.urdf.xacro'" />
+ <param name="robot_description_old" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pre.xacro.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pre.urdf.xacro'" />
</launch>
Modified: pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_prf.launch
===================================================================
--- pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_prf.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_prf.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -1,6 +1,6 @@
<launch>
<!-- send prf urdf to param server -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prf.xacro.xml'" />
- <param name="robot_description_new" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prf.urdf.xacro'" />
+ <param name="robot_description_old" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prf.xacro.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prf.urdf.xacro'" />
</launch>
Modified: pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_prg.launch
===================================================================
--- pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_prg.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_prg.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -1,6 +1,6 @@
<launch>
<!-- send prg urdf to param server -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prg.xacro.xml'" />
- <param name="robot_description_new" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prg.urdf.xacro'" />
+ <param name="robot_description_old" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prg.xacro.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prg.urdf.xacro'" />
</launch>
Modified: pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_prototype1.launch
===================================================================
--- pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_prototype1.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_prototype1.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -1,6 +1,6 @@
<launch>
<!-- send prototype1 urdf to param server -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prototype1.xacro.xml'" />
- <param name="robot_description_new" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prototype1.urdf.xacro'" />
+ <param name="robot_description_old" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prototype1.xacro.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prototype1.urdf.xacro'" />
</launch>
Modified: pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_r_arm.launch
===================================================================
--- pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_r_arm.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_r_arm.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -1,5 +1,5 @@
<launch>
<!-- send pr2 right arm urdf to param server -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_arm.xacro.xml'" />
- <param name="robot_description_new" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_arm.urdf.xacro'" />
+ <param name="robot_description_old" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_arm.xacro.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_arm.urdf.xacro'" />
</launch>
Modified: pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_r_gripper.launch
===================================================================
--- pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_r_gripper.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_common/pr2_defs/launch/upload_r_gripper.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -1,6 +1,6 @@
<launch>
<!-- send r_gripper urdf to param server -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_gripper.xacro.xml'" />
- <param name="robot_description_new" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_gripper.urdf.xacro'" />
+ <param name="robot_description_old" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_gripper.xacro.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/r_gripper.urdf.xacro'" />
</launch>
Modified: pkg/trunk/stacks/pr2_simulator/pr2_arm_gazebo/l_arm.launch
===================================================================
--- pkg/trunk/stacks/pr2_simulator/pr2_arm_gazebo/l_arm.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_simulator/pr2_arm_gazebo/l_arm.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -3,8 +3,8 @@
<!-- send pr2_l_arm.xml to param server -->
<include file="$(find pr2_defs)/launch/upload_l_arm.launch" />
- <!-- push robot_description_new to factory and spawn robot in gazebo -->
- <node pkg="gazebo_tools" type="urdf2factory" args="robot_description_new" respawn="false" output="screen"/>
+ <!-- push robot_description to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
<!-- for visualization -->
<!--
Modified: pkg/trunk/stacks/pr2_simulator/pr2_arm_gazebo/l_gripper.launch
===================================================================
--- pkg/trunk/stacks/pr2_simulator/pr2_arm_gazebo/l_gripper.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_simulator/pr2_arm_gazebo/l_gripper.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -3,8 +3,8 @@
<!-- send pr2_l_arm.xml to param server -->
<include file="$(find pr2_defs)/launch/upload_l_gripper.launch" />
- <!-- push robot_description_new to factory and spawn robot in gazebo -->
- <node pkg="gazebo_tools" type="urdf2factory" args="robot_description_new" respawn="false" output="screen"/>
+ <!-- push robot_description to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
<!-- for visualization -->
<!--
Modified: pkg/trunk/stacks/pr2_simulator/pr2_arm_gazebo/r_arm.launch
===================================================================
--- pkg/trunk/stacks/pr2_simulator/pr2_arm_gazebo/r_arm.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_simulator/pr2_arm_gazebo/r_arm.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -3,8 +3,8 @@
<!-- send pr2_r_arm urdf to param server -->
<include file="$(find pr2_defs)/launch/upload_r_arm.launch" />
- <!-- push robot_description_new to factory and spawn robot in gazebo -->
- <node pkg="gazebo_tools" type="urdf2factory" args="robot_description_new" respawn="false" output="screen"/>
+ <!-- push robot_description to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
<!-- for visualization -->
Modified: pkg/trunk/stacks/pr2_simulator/pr2_arm_gazebo/r_arm_grasping_demo.launch
===================================================================
--- pkg/trunk/stacks/pr2_simulator/pr2_arm_gazebo/r_arm_grasping_demo.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_simulator/pr2_arm_gazebo/r_arm_grasping_demo.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -11,8 +11,8 @@
<!-- send pr2_r_arm.xml to param server -->
<include file="$(find pr2_defs)/launch/upload_r_arm.launch" />
- <!-- push robot_description_new to factory and spawn robot in gazebo -->
- <node pkg="gazebo_tools" type="urdf2factory" args="robot_description_new" respawn="false" output="screen"/>
+ <!-- push robot_description to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
<!-- start arm controller -->
<include file="$(find pr2_arm_gazebo)/controllers/r_arm_position_controller.launch"/>
Modified: pkg/trunk/stacks/pr2_simulator/pr2_arm_gazebo/r_gripper.launch
===================================================================
--- pkg/trunk/stacks/pr2_simulator/pr2_arm_gazebo/r_gripper.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_simulator/pr2_arm_gazebo/r_gripper.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -3,8 +3,8 @@
<!-- send pr2 right gripper urdf to param server -->
<include file="$(find pr2_defs)/launch/upload_r_gripper.launch" />
- <!-- push robot_description_new to factory and spawn robot in gazebo -->
- <node pkg="gazebo_tools" type="urdf2factory" args="robot_description_new" respawn="false" output="screen"/>
+ <!-- push robot_description to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen"/>
<!-- for visualization -->
<!--
Modified: pkg/trunk/stacks/pr2_simulator/pr2_examples_gazebo/dual_link.launch
===================================================================
--- pkg/trunk/stacks/pr2_simulator/pr2_examples_gazebo/dual_link.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_simulator/pr2_examples_gazebo/dual_link.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -1,9 +1,9 @@
<launch>
<!-- send dual_link.xml to param server -->
- <param name="robot_description_new" command="$(find xacro)/xacro.py '$(find pr2_examples_gazebo)/dual_link_defs/dual_link.xml'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_examples_gazebo)/dual_link_defs/dual_link.xml'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
- <node pkg="gazebo_tools" type="urdf2factory" args="robot_description_new" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
<!--node pkg="pr2_mechanism_control" type="mech.py" args="sp $(find pr2_examples_gazebo)/dual_link_defs/controllers_dual_link.xml" respawn="false" output="screen" /-->
<!--node pkg="robot_mechanism_controllers" type="control.py" args="set test_controller 0.5" respawn="false" output="screen" /--> <!-- open gripper .5 radians -->
Modified: pkg/trunk/stacks/pr2_simulator/pr2_gazebo/head_cart.launch
===================================================================
--- pkg/trunk/stacks/pr2_simulator/pr2_gazebo/head_cart.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_simulator/pr2_gazebo/head_cart.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -2,8 +2,8 @@
<!-- send head_cart.xml to param server -->
<include file="$(find pr2_defs)/launch/upload_hca.launch" />
- <!-- push robot_description_new to factory and spawn robot in gazebo -->
- <node pkg="gazebo_tools" type="urdf2factory" args="robot_description_new" respawn="false" output="screen" />
+ <!-- push robot_description to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
<!-- Robot state publisher -->
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
Modified: pkg/trunk/stacks/pr2_simulator/pr2_gazebo/pr2.launch
===================================================================
--- pkg/trunk/stacks/pr2_simulator/pr2_gazebo/pr2.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_simulator/pr2_gazebo/pr2.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -3,8 +3,8 @@
<!-- send pr2 urdf to param server -->
<include file="$(find pr2_defs)/launch/upload_pr2.launch" />
- <!-- push robot_description_new to factory and spawn robot in gazebo -->
- <node pkg="gazebo_tools" type="urdf2factory" args="robot_description_new" respawn="false" output="screen" />
+ <!-- push robot_description to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
<!-- Robot state publisher -->
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" output="screen">
Modified: pkg/trunk/stacks/pr2_simulator/pr2_gazebo/prf.launch
===================================================================
--- pkg/trunk/stacks/pr2_simulator/pr2_gazebo/prf.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_simulator/pr2_gazebo/prf.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -5,8 +5,8 @@
<!-- <include file="$(find pr2_defs)/launch/upload_prf.launch" /> -->
- <!-- push robot_description_new to factory and spawn robot in gazebo -->
- <node pkg="gazebo_tools" type="urdf2factory" args="robot_description_new" respawn="false" output="screen" />
+ <!-- push robot_description to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen" />
<!-- Robot state publisher -->
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" output="screen">
Modified: pkg/trunk/stacks/pr2_simulator/pr2_gazebo/prototype1.launch
===================================================================
--- pkg/trunk/stacks/pr2_simulator/pr2_gazebo/prototype1.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_simulator/pr2_gazebo/prototype1.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -3,8 +3,8 @@
<!-- send prototype1 urdf to param server -->
<include file="$(find pr2_defs)/launch/upload_prototype1.launch" />
- <!-- push robot_description_new to factory and spawn robot in gazebo -->
- <node pkg="gazebo_tools" type="urdf2factory" args="robot_description_new 0 0 0 0 0 0 prototype1_model" respawn="false" />
+ <!-- push robot_description to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description 0 0 0 0 0 0 prototype1_model" respawn="false" />
<!-- Joystick uncomment if you have joystick
<param name="joy/deadzone" value="5000"/>
Modified: pkg/trunk/stacks/pr2_simulator/pr2_gazebo/rviz/map.vcg
===================================================================
--- pkg/trunk/stacks/pr2_simulator/pr2_gazebo/rviz/map.vcg 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_simulator/pr2_gazebo/rviz/map.vcg 2009-09-03 08:49:27 UTC (rev 23758)
@@ -10,7 +10,7 @@
Robot\ Model.Alpha=1
Robot\ Model.Collision\ Enabled=0
Robot\ Model.Enabled=1
-Robot\ Model.Robot\ Description=robot_description_new
+Robot\ Model.Robot\ Description=robot_description
Robot\ Model.Update\ Rate=0.1
Robot\ Model.Visual\ Enabled=1
Robot\:\ Robot\ Model\ Link\ base_laserShow\ Axes=0
Modified: pkg/trunk/stacks/pr2_simulator/pr2_gazebo_plugins/src/gazebo_mechanism_control.cpp
===================================================================
--- pkg/trunk/stacks/pr2_simulator/pr2_gazebo_plugins/src/gazebo_mechanism_control.cpp 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_simulator/pr2_gazebo_plugins/src/gazebo_mechanism_control.cpp 2009-09-03 08:49:27 UTC (rev 23758)
@@ -58,7 +58,7 @@
gzthrow("GazeboMechanismControl controller requires a Model as its parent");
Param::Begin(&this->parameters);
- this->robotParamP = new ParamT<std::string>("robotParam", "robot_description_new", 0);
+ this->robotParamP = new ParamT<std::string>("robotParam", "robot_description", 0);
Param::End();
if (getenv("CHECK_SPEEDUP"))
Modified: pkg/trunk/stacks/pr2_simulator/test_pr2_collision_gazebo/test_slide.launch
===================================================================
--- pkg/trunk/stacks/pr2_simulator/test_pr2_collision_gazebo/test_slide.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_simulator/test_pr2_collision_gazebo/test_slide.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -10,8 +10,8 @@
<!-- send single_link.xml to param server -->
<include file="$(find pr2_defs)/launch/upload_pr2.launch" />
- <!-- push robot_description_new to factory and spawn robot in gazebo -->
- <node name="urdf2factory" pkg="gazebo_tools" type="urdf2factory" args="robot_description_new 0 6 18 0 -75 90 pr2_model" respawn="false" output="screen" />
+ <!-- push robot_description to factory and spawn robot in gazebo -->
+ <node name="urdf2factory" pkg="gazebo_tools" type="urdf2factory" args="robot_description 0 6 18 0 -75 90 pr2_model" respawn="false" output="screen" />
<!-- test -->
<test test-name="pr2_test_slide" pkg="test_pr2_collision_gazebo" type="test_slide.py" time-limit="120" />
Modified: pkg/trunk/stacks/pr2_simulator/test_pr2_sensors_gazebo/test_camera.launch
===================================================================
--- pkg/trunk/stacks/pr2_simulator/test_pr2_sensors_gazebo/test_camera.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_simulator/test_pr2_sensors_gazebo/test_camera.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -12,8 +12,8 @@
<!-- send single_link.xml to param server -->
<include file="$(find pr2_defs)/launch/upload_pr2.launch" />
- <!-- push robot_description_new to factory and spawn robot in gazebo -->
- <node pkg="gazebo_tools" type="urdf2factory" args="robot_description_new -3 0 0" respawn="false" output="screen" /> <!-- load default arm controller -->
+ <!-- push robot_description to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description -3 0 0" respawn="false" output="screen" /> <!-- load default arm controller -->
<!-- load controllers -->
<include file="$(find pr2_default_controllers)/pr2_base_controller_odom.launch"/>
Modified: pkg/trunk/stacks/pr2_simulator/test_pr2_sensors_gazebo/test_scan.launch
===================================================================
--- pkg/trunk/stacks/pr2_simulator/test_pr2_sensors_gazebo/test_scan.launch 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/pr2_simulator/test_pr2_sensors_gazebo/test_scan.launch 2009-09-03 08:49:27 UTC (rev 23758)
@@ -12,8 +12,8 @@
<!-- send single_link.xml to param server -->
<include file="$(find pr2_defs)/launch/upload_pr2.launch" />
- <!-- push robot_description_new to factory and spawn robot in gazebo -->
- <node pkg="gazebo_tools" type="urdf2factory" args="robot_description_new" respawn="false" output="screen" /> <!-- load default arm controller -->
+ <!-- push robot_description to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_tools" type="urdf2factory" args="robot_description" respawn="false" output="screen" /> <!-- load default arm controller -->
<!-- load controllers -->
<include file="$(find pr2_default_controllers)/pr2_base_controller_odom.launch"/>
Modified: pkg/trunk/stacks/robot_model/robot_state_publisher/src/state_publisher.cpp
===================================================================
--- pkg/trunk/stacks/robot_model/robot_state_publisher/src/state_publisher.cpp 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/robot_model/robot_state_publisher/src/state_publisher.cpp 2009-09-03 08:49:27 UTC (rev 23758)
@@ -58,7 +58,7 @@
// gets the location of the robot description on the parameter server
string param_name, full_param_name;
- node.param("~/robot_desc_param", param_name, string("robot_description_new"));
+ node.param("~/robot_desc_param", param_name, string("robot_description"));
node.searchParam(param_name,full_param_name);
string robot_desc;
Modified: pkg/trunk/stacks/simulator_gazebo/gazebo_tools/src/spawn_urdf.cpp
===================================================================
--- pkg/trunk/stacks/simulator_gazebo/gazebo_tools/src/spawn_urdf.cpp 2009-09-03 06:59:48 UTC (rev 23757)
+++ pkg/trunk/stacks/simulator_gazebo/gazebo_tools/src/spawn_urdf.cpp 2009-09-03 08:49:27 UTC (rev 23758)
@@ -52,7 +52,7 @@
printf("\nUsage: %s urdf_param_name [options]\n", progname);
printf(" Note: model name in Gazebo defaults to the robot description parameter name.\n");
printf(" Example: spawn_urdf --help\n\n");
- printf(" Example: spawn_urdf robot_description_new -x 10\n\n");
+ printf(" Example: spawn_urdf robot_description -x 10\n\n");
}
namespace po = boost::program_options;
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