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[Personalrobots-commit] SF.net SVN: personalrobots:[23784] pkg/trunk/stacks/pr2_simulator/ test_pr2_2dnav_gazebo
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From: <hsu...@us...> - 2009-09-03 20:55:49
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Revision: 23784
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23784&view=rev
Author: hsujohnhsu
Date: 2009-09-03 20:55:38 +0000 (Thu, 03 Sep 2009)
Log Message:
-----------
fixe names: test_2dnav_* to test_pr2_2dnav_*
Modified Paths:
--------------
pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/CMakeLists.txt
Added Paths:
-----------
pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_pr2_2dnav_empty_amcl_axis.launch
pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_pr2_2dnav_empty_axis.launch
pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_pr2_2dnav_empty_diagonal.launch
pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_pr2_2dnav_empty_odom.launch
pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_pr2_2dnav_empty_rotation.launch
pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_pr2_2dnav_wg.launch
Removed Paths:
-------------
pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_amcl_axis.launch
pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_axis.launch
pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_diagonal.launch
pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_odom.launch
pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_rotation.launch
pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_wg.launch
Modified: pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/CMakeLists.txt
===================================================================
--- pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/CMakeLists.txt 2009-09-03 20:52:28 UTC (rev 23783)
+++ pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/CMakeLists.txt 2009-09-03 20:55:38 UTC (rev 23784)
@@ -22,11 +22,11 @@
#
#if(CMAKE_SYSTEM_NAME MATCHES "Linux" AND _is32bit)
#
-#rospack_add_rostest(test_2dnav_wg.launch)
-#rospack_add_rostest(test_2dnav_empty_rotation.launch)
-#rospack_add_rostest(test_2dnav_empty_odom.launch)
-#rospack_add_rostest(test_2dnav_empty_diagonal.launch)
-#rospack_add_rostest(test_2dnav_empty_axis.launch)
-#rospack_add_rostest(test_2dnav_empty_amcl_axis.launch)
+#rospack_add_rostest(test_pr2_2dnav_wg.launch)
+#rospack_add_rostest(test_pr2_2dnav_empty_rotation.launch)
+#rospack_add_rostest(test_pr2_2dnav_empty_odom.launch)
+#rospack_add_rostest(test_pr2_2dnav_empty_diagonal.launch)
+#rospack_add_rostest(test_pr2_2dnav_empty_axis.launch)
+#rospack_add_rostest(test_pr2_2dnav_empty_amcl_axis.launch)
#
#endif(CMAKE_SYSTEM_NAME MATCHES "Linux" AND _is32bit)
Deleted: pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_amcl_axis.launch
===================================================================
--- pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_amcl_axis.launch 2009-09-03 20:52:28 UTC (rev 23783)
+++ pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_amcl_axis.launch 2009-09-03 20:55:38 UTC (rev 23784)
@@ -1,50 +0,0 @@
-<launch>
-
- <!-- start up empty world -->
- <include file="$(find gazebo)/launch/empty_world.launch"/>
-
- <!-- start up robot -->
- <include file="$(find pr2_gazebo)/prototype1.launch"/>
-
- <!-- load map -->
- <node pkg="map_server" type="map_server" args="$(find gazebo_worlds)/Media/materials/textures/map_blank.png 0.1" respawn="false" />
-
- <!-- nav-stack -->
- <include file="$(find pr2_2dnav_gazebo)/2dnav-stack-amcl.launch"/>
-
- <!-- for visualization -->
- <!--
- <node pkg="nav_view" type="nav_view" respawn="false" />
- <node pkg="rviz" type="rviz" respawn="false" />
- <node pkg="rosviz" type="rxplot" respawn="false" args="-m. -p10 /state/pos/x,/state/pos/y,/state/pos/th" />
- -->
-
- <!--
- <param name="/trex/ping_frequency" value="1"/>
- <node pkg="highlevel_controllers" type="recharge_controller" args="" respawn="false" />
- <node pkg="kinematic_planning" type="kinematic_planning" args="robot_description"/>
- <include file="$(find world_3d_map)/run.xml"/>
- <node pkg="highlevel_controllers" type="move_arm" args="right" respawn="false"/>
- <node pkg="highlevel_controllers" type="move_arm" args="left" respawn="false" />
- <node pkg="highlevel_controllers" type="move_end_effector" args="right" respawn="false"/>
- -->
-
- <!-- test -->
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_amcl_xmpi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 23.56 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 140 -amcl 25.70 25.70 0" time-limit="150" />
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_amcl_xm1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 24.70 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 140 -amcl 25.70 25.70 0" time-limit="150" />
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_amcl_x1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 26.70 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 70 -amcl 25.70 25.70 0" time-limit="80" />
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_amcl_xpi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 28.84 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 70 -amcl 25.70 25.70 0" time-limit="80" />
-
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_amcl_ympi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 23.56 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 110 -amcl 25.70 25.70 0" time-limit="120" />
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_amcl_y1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 26.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 -amcl 25.70 25.70 0" time-limit="90" />
-
- <!-- these tests do not pass, commented out for now until fixed
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_amcl_ym1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 24.70 -t 0 -nav_t_tol 0.1 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 -amcl 25.70 25.70 0" time-limit="90" />
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_amcl_ypi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 28.84 -t 0 -nav_t_tol 0.1 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 -amcl 25.70 25.70 0" time-limit="90" />
- -->
-
- <!--
- <node pkg="rosrecord" type="rosrecord" args="-f 2dnav_empty_amcl_axis-build$(optenv BUILD_NUMBER) /odom /cmd_vel"/>
- -->
-
-</launch>
Deleted: pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_axis.launch
===================================================================
--- pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_axis.launch 2009-09-03 20:52:28 UTC (rev 23783)
+++ pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_axis.launch 2009-09-03 20:55:38 UTC (rev 23784)
@@ -1,51 +0,0 @@
-<launch>
- <master auto="start" />
-
- <!-- start up empty world -->
- <include file="$(find gazebo)/launch/empty_world.launch"/>
-
- <!-- start up robot -->
- <include file="$(find pr2_gazebo)/prototype1.launch"/>
-
- <!-- load map -->
- <node pkg="map_server" type="map_server" args="$(find gazebo_worlds)/Media/materials/textures/map_blank.png 0.1" respawn="false" />
-
- <!-- nav-stack -->
- <include file="$(find pr2_2dnav_gazebo)/2dnav-stack-fake_localization.launch"/>
-
- <!-- for visualization -->
- <!--
- <node pkg="nav_view" type="nav_view" respawn="false" />
- <node pkg="rviz" type="rviz" respawn="false" />
- <node pkg="rosviz" type="rxplot" respawn="false" args="-m. -p10 /state/pos/x,/state/pos/y,/state/pos/th" />
- -->
-
- <!--
- <param name="/trex/ping_frequency" value="1"/>
- <node pkg="highlevel_controllers" type="recharge_controller" args="" respawn="false" />
- <node pkg="kinematic_planning" type="kinematic_planning" args="robot_description"/>
- <include file="$(find world_3d_map)/run.xml"/>
- <node pkg="highlevel_controllers" type="move_arm" args="right" respawn="false"/>
- <node pkg="highlevel_controllers" type="move_arm" args="left" respawn="false" />
- <node pkg="highlevel_controllers" type="move_end_effector" args="right" respawn="false"/>
- -->
-
- <!-- test -->
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_xmpi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 23.56 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 140 " time-limit="150" />
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_xm1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 24.70 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 140 " time-limit="150" />
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_x1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 26.70 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 70 " time-limit="80" />
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_xpi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 28.84 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 70 " time-limit="80" />
-
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_ympi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 23.56 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 110 " time-limit="120" />
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_y1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 26.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 " time-limit="90" />
-
- <!-- these tests do not pass, commented out for now until fixed
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_ym1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 24.70 -t 0 -nav_t_tol 0.1 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 " time-limit="90" />
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_ypi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 28.84 -t 0 -nav_t_tol 0.1 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 " time-limit="90" />
- -->
-
- <!--
- <node pkg="rosrecord" type="rosrecord" args="-f 2dnav_empty_axis-build$(optenv BUILD_NUMBER) /odom /cmd_vel"/>
- -->
-
-</launch>
Deleted: pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_diagonal.launch
===================================================================
--- pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_diagonal.launch 2009-09-03 20:52:28 UTC (rev 23783)
+++ pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_diagonal.launch 2009-09-03 20:55:38 UTC (rev 23784)
@@ -1,50 +0,0 @@
-<launch>
- <master auto="start" />
-
- <!-- start up empty world -->
- <include file="$(find gazebo)/launch/empty_world.launch"/>
-
- <!-- start up robot -->
- <include file="$(find pr2_gazebo)/prototype1.launch"/>
-
- <!-- load map -->
- <node pkg="map_server" type="map_server" args="$(find gazebo_worlds)/Media/materials/textures/map_blank.png 0.1" respawn="false" />
-
- <!-- nav-stack -->
- <include file="$(find pr2_2dnav_gazebo)/2dnav-stack-fake_localization.launch"/>
-
- <!-- for visualization -->
- <!--
- <node pkg="rviz" type="rviz" respawn="false" />
- <node pkg="nav_view" type="nav_view" respawn="false" />
- -->
-
- <!--
- <param name="/trex/ping_frequency" value="1"/>
- <node pkg="highlevel_controllers" type="recharge_controller" args="" respawn="false" />
- <node pkg="kinematic_planning" type="kinematic_planning" args="robot_description"/>
- <include file="$(find world_3d_map)/run.xml"/>
- <node pkg="highlevel_controllers" type="move_arm" args="right" respawn="false"/>
- <node pkg="highlevel_controllers" type="move_arm" args="left" respawn="false" />
- <node pkg="highlevel_controllers" type="move_end_effector" args="right" respawn="false"/>
- -->
-
- <!-- test -->
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_xm1y1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 24.70 -y 26.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 150 " time-limit="170" />
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_xm1ym1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 24.70 -y 24.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 150 " time-limit="170" />
-
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_xpiypi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 28.84 -y 28.84 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.80 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 150 " time-limit="170" />
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_xmpiypi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 23.56 -y 28.84 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 150 " time-limit="170" />
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_xmpiympi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 23.56 -y 23.56 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 150 " time-limit="170" />
-
- <!-- these tests do not pass, commented out for now until fixed
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_x1y1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 26.70 -y 26.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 " time-limit="90" />
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_xpiympi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 28.84 -y 23.56 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 110 " time-limit="120" />
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_x1ym1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 26.70 -y 24.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 180 " time-limit="200" />
- -->
-
- <!--
- <node pkg="rosrecord" type="rosrecord" args="-f 2dnav_empty_diagonal-build$(optenv BUILD_NUMBER) /odom /cmd_vel"/>
- -->
-
-</launch>
Deleted: pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_odom.launch
===================================================================
--- pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_odom.launch 2009-09-03 20:52:28 UTC (rev 23783)
+++ pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_odom.launch 2009-09-03 20:55:38 UTC (rev 23784)
@@ -1,50 +0,0 @@
-<launch>
- <master auto="start" />
-
- <!-- start up empty world -->
- <include file="$(find gazebo)/launch/empty_world.launch"/>
-
- <!-- start up robot -->
- <include file="$(find pr2_gazebo)/prototype1.launch"/>
-
- <!-- load map -->
- <node pkg="map_server" type="map_server" args="$(find gazebo_worlds)/Media/materials/textures/map_blank.png 0.1" respawn="false" />
-
- <!-- nav-stack -->
- <include file="$(find pr2_2dnav_gazebo)/2dnav-stack-fake_localization.launch"/>
-
- <!-- for visualization -->
- <!--
- <node pkg="nav_view" type="nav_view" respawn="false" />
- <node pkg="rviz" type="rviz" respawn="false" />
- -->
-
- <!--
- <param name="/trex/ping_frequency" value="1"/>
- <node pkg="highlevel_controllers" type="recharge_controller" args="" respawn="false" />
- <node pkg="kinematic_planning" type="kinematic_planning" args="robot_description"/>
- <include file="$(find world_3d_map)/run.xml"/>
- <node pkg="highlevel_controllers" type="move_arm" args="right" respawn="false"/>
- <node pkg="highlevel_controllers" type="move_arm" args="left" respawn="false" />
- <node pkg="highlevel_controllers" type="move_end_effector" args="right" respawn="false"/>
- -->
-
- <!-- test -->
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_odom_xmpiypi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 23.56 -y 28.84 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 2.00 -odom_xy_tol 3.00 -timeout 170 " time-limit="180" />
-
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_odom_tm2pi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 25.70 -t -6.2832 -nav_t_tol 0.2 -nav_xy_tol 0.01 -odom_t_tol 0.05 -odom_xy_tol 0.05 -timeout 50 " time-limit="60" />
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_odom_t2pi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 25.70 -t 6.2832 -nav_t_tol 0.2 -nav_xy_tol 0.01 -odom_t_tol 0.05 -odom_xy_tol 0.05 -timeout 50 " time-limit="60" />
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_odom_tmpi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 25.70 -t -3.1416 -nav_t_tol 0.2 -nav_xy_tol 0.30 -odom_t_tol 0.05 -odom_xy_tol 0.05 -timeout 50 " time-limit="60" />
-
- <!-- these tests do not pass, commented out for now until fixed
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_odom_xmpiympi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 23.56 -y 23.56 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.70 -odom_xy_tol 0.30 -timeout 80 " time-limit="90" />
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_odom_xpiympi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 28.84 -y 23.56 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 1.00 -odom_xy_tol 0.50 -timeout 80 " time-limit="90" />
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_odom_xpiypi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 28.84 -y 28.84 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.80 -odom_t_tol 2.00 -odom_xy_tol 3.00 -timeout 110 " time-limit="120" />
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_odom_tpi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 25.70 -t 3.1416 -nav_t_tol 0.2 -nav_xy_tol 0.30 -odom_t_tol 0.05 -odom_xy_tol 0.05 -timeout 50 " time-limit="60" />
- -->
-
- <!--
- <node pkg="rosrecord" type="rosrecord" args="-f 2dnav_empty_odom-build$(optenv BUILD_NUMBER) /odom /cmd_vel"/>
- -->
-
-</launch>
Deleted: pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_rotation.launch
===================================================================
--- pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_rotation.launch 2009-09-03 20:52:28 UTC (rev 23783)
+++ pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_rotation.launch 2009-09-03 20:55:38 UTC (rev 23784)
@@ -1,45 +0,0 @@
-<launch>
- <master auto="start" />
-
- <!-- start up empty world -->
- <include file="$(find gazebo)/launch/empty_world.launch"/>
-
- <!-- start up robot -->
- <include file="$(find pr2_gazebo)/prototype1.launch"/>
-
- <!-- load map -->
- <node pkg="map_server" type="map_server" args="$(find gazebo_worlds)/Media/materials/textures/map_blank.png 0.1" respawn="false" />
-
- <!-- nav-stack -->
- <include file="$(find pr2_2dnav_gazebo)/2dnav-stack-fake_localization.launch"/>
-
- <!-- for visualization -->
- <!--
- <node pkg="rviz" type="rviz" respawn="false" />
- <node pkg="nav_view" type="nav_view" respawn="false" />
- -->
-
- <!--
- <param name="/trex/ping_frequency" value="1"/>
- <node pkg="highlevel_controllers" type="recharge_controller" args="" respawn="false" />
- <node pkg="kinematic_planning" type="kinematic_planning" args="robot_description"/>
- <include file="$(find world_3d_map)/run.xml"/>
- <node pkg="highlevel_controllers" type="move_arm" args="right" respawn="false"/>
- <node pkg="highlevel_controllers" type="move_arm" args="left" respawn="false" />
- <node pkg="highlevel_controllers" type="move_end_effector" args="right" respawn="false"/>
- -->
-
- <!-- test -->
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_tm2pi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 25.70 -t -6.2832 -nav_t_tol 0.1 -nav_xy_tol 0.01 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 50 " time-limit="60" />
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_tmpi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 25.70 -t -3.1416 -nav_t_tol 0.1 -nav_xy_tol 0.20 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 " time-limit="90" />
-
- <!-- these tests do not pass, commented out for now until fixed
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_tpi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 25.70 -t 3.1416 -nav_t_tol 0.1 -nav_xy_tol 0.02 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 50 " time-limit="60" />
- <test test-name="pr2_2dnav_gazebo_test_2dnav_empty_t2pi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 25.70 -t 6.2832 -nav_t_tol 0.1 -nav_xy_tol 0.01 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 50 " time-limit="60" />
- -->
-
- <!--
- <node pkg="rosrecord" type="rosrecord" args="-f 2dnav_empty_rotation-build$(optenv BUILD_NUMBER) /odom /cmd_vel"/>
- -->
-
-</launch>
Deleted: pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_wg.launch
===================================================================
--- pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_wg.launch 2009-09-03 20:52:28 UTC (rev 23783)
+++ pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_wg.launch 2009-09-03 20:55:38 UTC (rev 23784)
@@ -1,39 +0,0 @@
-<launch>
- <master auto="start" />
-
- <!-- start up wg world -->
- <include file="$(find gazebo)/launch/wg_world.launch"/>
-
- <!-- start up robot -->
- <include file="$(find pr2_gazebo)/prototype1.launch"/>
-
- <!-- load map -->
- <node pkg="map_server" type="map_server" args="$(find gazebo_worlds)/Media/materials/textures/willowMap25mm.png 0.025" respawn="false" />
- <!--
- <node pkg="map_server" type="map_server" args="$(find gazebo_worlds)/Media/materials/textures/willowMap.png 0.1" respawn="false" />
- -->
-
- <!-- nav-stack -->
- <include file="$(find pr2_2dnav_gazebo)/2dnav-stack-fake_localization.launch"/>
-
- <include file="$(find 2dnav_pr2)/rviz/rviz_move_base.launch"/>
- <node pkg="rxtools" type="rxconsole" respawn="false" />
- <!--
- <param name="/trex/ping_frequency" value="1"/>
- <node pkg="highlevel_controllers" type="recharge_controller" args="" respawn="false" />
- <node pkg="kinematic_planning" type="kinematic_planning" args="robot_description"/>
- <node pkg="highlevel_controllers" type="move_arm" args="right" respawn="false"/>
- <node pkg="highlevel_controllers" type="move_arm" args="left" respawn="false" />
- <node pkg="highlevel_controllers" type="move_end_effector" args="right" respawn="false"/>
- -->
-
- <!-- test -->
- <test test-name="pr2_2dnav_gazebo_test_2dnav_wg_waypoint_1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 40.8 -y 42.5 -t 3.083 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 800 " time-limit="820"/>
- <!-- these tests do not pass, commented out for now until fixed
- <test test-name="pr2_2dnav_gazebo_test_2dnav_wg_waypoint_2" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 36.0 -y 34.9 -t 2.554 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 480 " time-limit="500"/>
- <test test-name="pr2_2dnav_gazebo_test_2dnav_wg_waypoint_3" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 31.3 -y 45.8 -t 0.000 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 480 " time-limit="500"/>
- <test test-name="pr2_2dnav_gazebo_test_2dnav_wg_waypoint_4" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 22.2 -y 20.0 -t 0.000 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 480 " time-limit="500"/>
- <test test-name="pr2_2dnav_gazebo_test_2dnav_wg_waypoint_5" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 7.5 -y 45.0 -t 1.571 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 480 " time-limit="500"/>
- <test test-name="pr2_2dnav_gazebo_test_2dnav_wg_waypoint_6" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 9.4 -y 11.2 -t 0.000 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 480 " time-limit="500"/>
- -->
-</launch>
Copied: pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_pr2_2dnav_empty_amcl_axis.launch (from rev 23768, pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_amcl_axis.launch)
===================================================================
--- pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_pr2_2dnav_empty_amcl_axis.launch (rev 0)
+++ pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_pr2_2dnav_empty_amcl_axis.launch 2009-09-03 20:55:38 UTC (rev 23784)
@@ -0,0 +1,50 @@
+<launch>
+
+ <!-- start up empty world -->
+ <include file="$(find gazebo)/launch/empty_world.launch"/>
+
+ <!-- start up robot -->
+ <include file="$(find pr2_gazebo)/prototype1.launch"/>
+
+ <!-- load map -->
+ <node pkg="map_server" type="map_server" args="$(find gazebo_worlds)/Media/materials/textures/map_blank.png 0.1" respawn="false" />
+
+ <!-- nav-stack -->
+ <include file="$(find pr2_2dnav_gazebo)/2dnav-stack-amcl.launch"/>
+
+ <!-- for visualization -->
+ <!--
+ <node pkg="nav_view" type="nav_view" respawn="false" />
+ <node pkg="rviz" type="rviz" respawn="false" />
+ <node pkg="rosviz" type="rxplot" respawn="false" args="-m. -p10 /state/pos/x,/state/pos/y,/state/pos/th" />
+ -->
+
+ <!--
+ <param name="/trex/ping_frequency" value="1"/>
+ <node pkg="highlevel_controllers" type="recharge_controller" args="" respawn="false" />
+ <node pkg="kinematic_planning" type="kinematic_planning" args="robot_description"/>
+ <include file="$(find world_3d_map)/run.xml"/>
+ <node pkg="highlevel_controllers" type="move_arm" args="right" respawn="false"/>
+ <node pkg="highlevel_controllers" type="move_arm" args="left" respawn="false" />
+ <node pkg="highlevel_controllers" type="move_end_effector" args="right" respawn="false"/>
+ -->
+
+ <!-- test -->
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_amcl_xmpi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 23.56 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 140 -amcl 25.70 25.70 0" time-limit="150" />
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_amcl_xm1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 24.70 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 140 -amcl 25.70 25.70 0" time-limit="150" />
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_amcl_x1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 26.70 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 70 -amcl 25.70 25.70 0" time-limit="80" />
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_amcl_xpi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 28.84 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 70 -amcl 25.70 25.70 0" time-limit="80" />
+
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_amcl_ympi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 23.56 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 110 -amcl 25.70 25.70 0" time-limit="120" />
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_amcl_y1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 26.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 -amcl 25.70 25.70 0" time-limit="90" />
+
+ <!-- these tests do not pass, commented out for now until fixed
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_amcl_ym1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 24.70 -t 0 -nav_t_tol 0.1 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 -amcl 25.70 25.70 0" time-limit="90" />
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_amcl_ypi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 28.84 -t 0 -nav_t_tol 0.1 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 -amcl 25.70 25.70 0" time-limit="90" />
+ -->
+
+ <!--
+ <node pkg="rosrecord" type="rosrecord" args="-f 2dnav_empty_amcl_axis-build$(optenv BUILD_NUMBER) /odom /cmd_vel"/>
+ -->
+
+</launch>
Copied: pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_pr2_2dnav_empty_axis.launch (from rev 23768, pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_axis.launch)
===================================================================
--- pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_pr2_2dnav_empty_axis.launch (rev 0)
+++ pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_pr2_2dnav_empty_axis.launch 2009-09-03 20:55:38 UTC (rev 23784)
@@ -0,0 +1,51 @@
+<launch>
+ <master auto="start" />
+
+ <!-- start up empty world -->
+ <include file="$(find gazebo)/launch/empty_world.launch"/>
+
+ <!-- start up robot -->
+ <include file="$(find pr2_gazebo)/prototype1.launch"/>
+
+ <!-- load map -->
+ <node pkg="map_server" type="map_server" args="$(find gazebo_worlds)/Media/materials/textures/map_blank.png 0.1" respawn="false" />
+
+ <!-- nav-stack -->
+ <include file="$(find pr2_2dnav_gazebo)/2dnav-stack-fake_localization.launch"/>
+
+ <!-- for visualization -->
+ <!--
+ <node pkg="nav_view" type="nav_view" respawn="false" />
+ <node pkg="rviz" type="rviz" respawn="false" />
+ <node pkg="rosviz" type="rxplot" respawn="false" args="-m. -p10 /state/pos/x,/state/pos/y,/state/pos/th" />
+ -->
+
+ <!--
+ <param name="/trex/ping_frequency" value="1"/>
+ <node pkg="highlevel_controllers" type="recharge_controller" args="" respawn="false" />
+ <node pkg="kinematic_planning" type="kinematic_planning" args="robot_description"/>
+ <include file="$(find world_3d_map)/run.xml"/>
+ <node pkg="highlevel_controllers" type="move_arm" args="right" respawn="false"/>
+ <node pkg="highlevel_controllers" type="move_arm" args="left" respawn="false" />
+ <node pkg="highlevel_controllers" type="move_end_effector" args="right" respawn="false"/>
+ -->
+
+ <!-- test -->
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_xmpi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 23.56 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 140 " time-limit="150" />
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_xm1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 24.70 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 140 " time-limit="150" />
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_x1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 26.70 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 70 " time-limit="80" />
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_xpi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 28.84 -y 25.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 70 " time-limit="80" />
+
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_ympi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 23.56 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 110 " time-limit="120" />
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_y1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 26.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 " time-limit="90" />
+
+ <!-- these tests do not pass, commented out for now until fixed
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_ym1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 24.70 -t 0 -nav_t_tol 0.1 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 " time-limit="90" />
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_ypi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 28.84 -t 0 -nav_t_tol 0.1 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 " time-limit="90" />
+ -->
+
+ <!--
+ <node pkg="rosrecord" type="rosrecord" args="-f 2dnav_empty_axis-build$(optenv BUILD_NUMBER) /odom /cmd_vel"/>
+ -->
+
+</launch>
Copied: pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_pr2_2dnav_empty_diagonal.launch (from rev 23768, pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_diagonal.launch)
===================================================================
--- pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_pr2_2dnav_empty_diagonal.launch (rev 0)
+++ pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_pr2_2dnav_empty_diagonal.launch 2009-09-03 20:55:38 UTC (rev 23784)
@@ -0,0 +1,50 @@
+<launch>
+ <master auto="start" />
+
+ <!-- start up empty world -->
+ <include file="$(find gazebo)/launch/empty_world.launch"/>
+
+ <!-- start up robot -->
+ <include file="$(find pr2_gazebo)/prototype1.launch"/>
+
+ <!-- load map -->
+ <node pkg="map_server" type="map_server" args="$(find gazebo_worlds)/Media/materials/textures/map_blank.png 0.1" respawn="false" />
+
+ <!-- nav-stack -->
+ <include file="$(find pr2_2dnav_gazebo)/2dnav-stack-fake_localization.launch"/>
+
+ <!-- for visualization -->
+ <!--
+ <node pkg="rviz" type="rviz" respawn="false" />
+ <node pkg="nav_view" type="nav_view" respawn="false" />
+ -->
+
+ <!--
+ <param name="/trex/ping_frequency" value="1"/>
+ <node pkg="highlevel_controllers" type="recharge_controller" args="" respawn="false" />
+ <node pkg="kinematic_planning" type="kinematic_planning" args="robot_description"/>
+ <include file="$(find world_3d_map)/run.xml"/>
+ <node pkg="highlevel_controllers" type="move_arm" args="right" respawn="false"/>
+ <node pkg="highlevel_controllers" type="move_arm" args="left" respawn="false" />
+ <node pkg="highlevel_controllers" type="move_end_effector" args="right" respawn="false"/>
+ -->
+
+ <!-- test -->
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_xm1y1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 24.70 -y 26.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 150 " time-limit="170" />
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_xm1ym1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 24.70 -y 24.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 150 " time-limit="170" />
+
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_xpiypi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 28.84 -y 28.84 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.80 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 150 " time-limit="170" />
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_xmpiypi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 23.56 -y 28.84 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 150 " time-limit="170" />
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_xmpiympi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 23.56 -y 23.56 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 150 " time-limit="170" />
+
+ <!-- these tests do not pass, commented out for now until fixed
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_x1y1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 26.70 -y 26.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 " time-limit="90" />
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_xpiympi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 28.84 -y 23.56 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 110 " time-limit="120" />
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_x1ym1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 26.70 -y 24.70 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 180 " time-limit="200" />
+ -->
+
+ <!--
+ <node pkg="rosrecord" type="rosrecord" args="-f 2dnav_empty_diagonal-build$(optenv BUILD_NUMBER) /odom /cmd_vel"/>
+ -->
+
+</launch>
Copied: pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_pr2_2dnav_empty_odom.launch (from rev 23768, pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_odom.launch)
===================================================================
--- pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_pr2_2dnav_empty_odom.launch (rev 0)
+++ pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_pr2_2dnav_empty_odom.launch 2009-09-03 20:55:38 UTC (rev 23784)
@@ -0,0 +1,50 @@
+<launch>
+ <master auto="start" />
+
+ <!-- start up empty world -->
+ <include file="$(find gazebo)/launch/empty_world.launch"/>
+
+ <!-- start up robot -->
+ <include file="$(find pr2_gazebo)/prototype1.launch"/>
+
+ <!-- load map -->
+ <node pkg="map_server" type="map_server" args="$(find gazebo_worlds)/Media/materials/textures/map_blank.png 0.1" respawn="false" />
+
+ <!-- nav-stack -->
+ <include file="$(find pr2_2dnav_gazebo)/2dnav-stack-fake_localization.launch"/>
+
+ <!-- for visualization -->
+ <!--
+ <node pkg="nav_view" type="nav_view" respawn="false" />
+ <node pkg="rviz" type="rviz" respawn="false" />
+ -->
+
+ <!--
+ <param name="/trex/ping_frequency" value="1"/>
+ <node pkg="highlevel_controllers" type="recharge_controller" args="" respawn="false" />
+ <node pkg="kinematic_planning" type="kinematic_planning" args="robot_description"/>
+ <include file="$(find world_3d_map)/run.xml"/>
+ <node pkg="highlevel_controllers" type="move_arm" args="right" respawn="false"/>
+ <node pkg="highlevel_controllers" type="move_arm" args="left" respawn="false" />
+ <node pkg="highlevel_controllers" type="move_end_effector" args="right" respawn="false"/>
+ -->
+
+ <!-- test -->
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_odom_xmpiypi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 23.56 -y 28.84 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 2.00 -odom_xy_tol 3.00 -timeout 170 " time-limit="180" />
+
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_odom_tm2pi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 25.70 -t -6.2832 -nav_t_tol 0.2 -nav_xy_tol 0.01 -odom_t_tol 0.05 -odom_xy_tol 0.05 -timeout 50 " time-limit="60" />
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_odom_t2pi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 25.70 -t 6.2832 -nav_t_tol 0.2 -nav_xy_tol 0.01 -odom_t_tol 0.05 -odom_xy_tol 0.05 -timeout 50 " time-limit="60" />
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_odom_tmpi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 25.70 -t -3.1416 -nav_t_tol 0.2 -nav_xy_tol 0.30 -odom_t_tol 0.05 -odom_xy_tol 0.05 -timeout 50 " time-limit="60" />
+
+ <!-- these tests do not pass, commented out for now until fixed
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_odom_xmpiympi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 23.56 -y 23.56 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.70 -odom_xy_tol 0.30 -timeout 80 " time-limit="90" />
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_odom_xpiympi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 28.84 -y 23.56 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 1.00 -odom_xy_tol 0.50 -timeout 80 " time-limit="90" />
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_odom_xpiypi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 28.84 -y 28.84 -t 0 -nav_t_tol 0.2 -nav_xy_tol 0.80 -odom_t_tol 2.00 -odom_xy_tol 3.00 -timeout 110 " time-limit="120" />
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_odom_tpi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 25.70 -t 3.1416 -nav_t_tol 0.2 -nav_xy_tol 0.30 -odom_t_tol 0.05 -odom_xy_tol 0.05 -timeout 50 " time-limit="60" />
+ -->
+
+ <!--
+ <node pkg="rosrecord" type="rosrecord" args="-f 2dnav_empty_odom-build$(optenv BUILD_NUMBER) /odom /cmd_vel"/>
+ -->
+
+</launch>
Copied: pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_pr2_2dnav_empty_rotation.launch (from rev 23768, pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_empty_rotation.launch)
===================================================================
--- pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_pr2_2dnav_empty_rotation.launch (rev 0)
+++ pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_pr2_2dnav_empty_rotation.launch 2009-09-03 20:55:38 UTC (rev 23784)
@@ -0,0 +1,45 @@
+<launch>
+ <master auto="start" />
+
+ <!-- start up empty world -->
+ <include file="$(find gazebo)/launch/empty_world.launch"/>
+
+ <!-- start up robot -->
+ <include file="$(find pr2_gazebo)/prototype1.launch"/>
+
+ <!-- load map -->
+ <node pkg="map_server" type="map_server" args="$(find gazebo_worlds)/Media/materials/textures/map_blank.png 0.1" respawn="false" />
+
+ <!-- nav-stack -->
+ <include file="$(find pr2_2dnav_gazebo)/2dnav-stack-fake_localization.launch"/>
+
+ <!-- for visualization -->
+ <!--
+ <node pkg="rviz" type="rviz" respawn="false" />
+ <node pkg="nav_view" type="nav_view" respawn="false" />
+ -->
+
+ <!--
+ <param name="/trex/ping_frequency" value="1"/>
+ <node pkg="highlevel_controllers" type="recharge_controller" args="" respawn="false" />
+ <node pkg="kinematic_planning" type="kinematic_planning" args="robot_description"/>
+ <include file="$(find world_3d_map)/run.xml"/>
+ <node pkg="highlevel_controllers" type="move_arm" args="right" respawn="false"/>
+ <node pkg="highlevel_controllers" type="move_arm" args="left" respawn="false" />
+ <node pkg="highlevel_controllers" type="move_end_effector" args="right" respawn="false"/>
+ -->
+
+ <!-- test -->
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_tm2pi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 25.70 -t -6.2832 -nav_t_tol 0.1 -nav_xy_tol 0.01 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 50 " time-limit="60" />
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_tmpi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 25.70 -t -3.1416 -nav_t_tol 0.1 -nav_xy_tol 0.20 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 80 " time-limit="90" />
+
+ <!-- these tests do not pass, commented out for now until fixed
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_tpi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 25.70 -t 3.1416 -nav_t_tol 0.1 -nav_xy_tol 0.02 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 50 " time-limit="60" />
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_empty_t2pi" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 25.70 -y 25.70 -t 6.2832 -nav_t_tol 0.1 -nav_xy_tol 0.01 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 50 " time-limit="60" />
+ -->
+
+ <!--
+ <node pkg="rosrecord" type="rosrecord" args="-f 2dnav_empty_rotation-build$(optenv BUILD_NUMBER) /odom /cmd_vel"/>
+ -->
+
+</launch>
Copied: pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_pr2_2dnav_wg.launch (from rev 23768, pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_2dnav_wg.launch)
===================================================================
--- pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_pr2_2dnav_wg.launch (rev 0)
+++ pkg/trunk/stacks/pr2_simulator/test_pr2_2dnav_gazebo/test_pr2_2dnav_wg.launch 2009-09-03 20:55:38 UTC (rev 23784)
@@ -0,0 +1,39 @@
+<launch>
+ <master auto="start" />
+
+ <!-- start up wg world -->
+ <include file="$(find gazebo)/launch/wg_world.launch"/>
+
+ <!-- start up robot -->
+ <include file="$(find pr2_gazebo)/prototype1.launch"/>
+
+ <!-- load map -->
+ <node pkg="map_server" type="map_server" args="$(find gazebo_worlds)/Media/materials/textures/willowMap25mm.png 0.025" respawn="false" />
+ <!--
+ <node pkg="map_server" type="map_server" args="$(find gazebo_worlds)/Media/materials/textures/willowMap.png 0.1" respawn="false" />
+ -->
+
+ <!-- nav-stack -->
+ <include file="$(find pr2_2dnav_gazebo)/2dnav-stack-fake_localization.launch"/>
+
+ <include file="$(find 2dnav_pr2)/rviz/rviz_move_base.launch"/>
+ <node pkg="rxtools" type="rxconsole" respawn="false" />
+ <!--
+ <param name="/trex/ping_frequency" value="1"/>
+ <node pkg="highlevel_controllers" type="recharge_controller" args="" respawn="false" />
+ <node pkg="kinematic_planning" type="kinematic_planning" args="robot_description"/>
+ <node pkg="highlevel_controllers" type="move_arm" args="right" respawn="false"/>
+ <node pkg="highlevel_controllers" type="move_arm" args="left" respawn="false" />
+ <node pkg="highlevel_controllers" type="move_end_effector" args="right" respawn="false"/>
+ -->
+
+ <!-- test -->
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_wg_waypoint_1" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 40.8 -y 42.5 -t 3.083 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 800 " time-limit="820"/>
+ <!-- these tests do not pass, commented out for now until fixed
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_wg_waypoint_2" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 36.0 -y 34.9 -t 2.554 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 480 " time-limit="500"/>
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_wg_waypoint_3" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 31.3 -y 45.8 -t 0.000 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 480 " time-limit="500"/>
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_wg_waypoint_4" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 22.2 -y 20.0 -t 0.000 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 480 " time-limit="500"/>
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_wg_waypoint_5" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 7.5 -y 45.0 -t 1.571 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 480 " time-limit="500"/>
+ <test test-name="pr2_2dnav_gazebo_test_pr2_2dnav_wg_waypoint_6" pkg="test_pr2_2dnav_gazebo" type="set_goal.py" args=" -x 9.4 -y 11.2 -t 0.000 -nav_t_tol 0.2 -nav_xy_tol 0.70 -odom_t_tol 0.0 -odom_xy_tol 0.0 -timeout 480 " time-limit="500"/>
+ -->
+</launch>
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