[Personalrobots-commit] SF.net SVN: personalrobots:[23785] pkg/trunk/calibration_experimental/ pr2_calibration_launch

[<vij...@us...>]

Revision: 23785
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23785&view=rev
Author:   vijaypradeep
Date:     2009-09-03 21:05:56 +0000 (Thu, 03 Sep 2009)

Log Message:
-----------
Adding script to generate gazebo checkerboard

Added Paths:
-----------
    pkg/trunk/calibration_experimental/pr2_calibration_launch/build_checker.py
    pkg/trunk/calibration_experimental/pr2_calibration_launch/checker.launch

Added: pkg/trunk/calibration_experimental/pr2_calibration_launch/build_checker.py
===================================================================
--- pkg/trunk/calibration_experimental/pr2_calibration_launch/build_checker.py	                        (rev 0)
+++ pkg/trunk/calibration_experimental/pr2_calibration_launch/build_checker.py	2009-09-03 21:05:56 UTC (rev 23785)
@@ -0,0 +1,63 @@
+#!/usr/bin/env python
+
+import sys
+import os
+import string
+
+def print_usage():
+    print '''Usage:
+    build_checker.py <num_x> <num_y> <square_size>
+'''
+
+if len(sys.argv) < 4:
+    print_usage();
+
+num_x   = int(sys.argv[1])
+num_y   = int(sys.argv[2])
+sq_size = float(sys.argv[3])
+
+print '''<?xml version="1.0" ?>
+<!-- Object2: example checker box -->
+<model:physical name="checker_model">
+  <xyz>   0.0    0.0    2.0 </xyz>
+  <rpy>   0.0    0.0    0.0</rpy>
+  <static>true</static>
+  <body:box name="checker_body">'''
+
+for y in range(0, num_y):
+    for x in range(0, num_x):
+        if y%2 == x%2:
+            laser_retro = 3000
+            material_str = "PR2/White"
+        else:
+            laser_retro = 1000
+            material_str = "PR2/Black"
+        box_name_str = "checker_%u%u_geom" % (x,y)
+        position_str = "0.0 %.3f %.3f" % (x*sq_size, y*sq_size)
+        size_str     = "%.3f %.3f %.3f" % (sq_size, sq_size, sq_size)
+        print '''
+    <geom:box name="%s">
+      <xyz>%s</xyz>
+      <size>%s</size>
+      <laserRetro>%u</laserRetro>
+      <kp>1000000.0</kp>
+      <kd>1.0</kd>
+      <mesh>default</mesh>
+      <mass> 0.01</mass>
+      <visual>
+        <size>%s</size>
+        <material>%s</material>
+        <mesh>unit_box</mesh>
+      </visual>
+    </geom:box>''' % (box_name_str, position_str, size_str, laser_retro, size_str, material_str)
+
+print '''  </body:box>
+  <controller:ros_p3d name="p3d_object_controller" plugin="libros_p3d.so">
+    <alwaysOn>true</alwaysOn>
+    <updateRate>100.0</updateRate>
+    <bodyName>checker_body</bodyName>
+    <topicName>checker_pose_ground_truty</topicName>
+    <frameName>map</frameName>
+    <interface:position name="p3d_object_position"/>
+  </controller:ros_p3d>
+</model:physical>'''


Property changes on: pkg/trunk/calibration_experimental/pr2_calibration_launch/build_checker.py
___________________________________________________________________
Added: svn:executable
   + *

Added: pkg/trunk/calibration_experimental/pr2_calibration_launch/checker.launch
===================================================================
--- pkg/trunk/calibration_experimental/pr2_calibration_launch/checker.launch	                        (rev 0)
+++ pkg/trunk/calibration_experimental/pr2_calibration_launch/checker.launch	2009-09-03 21:05:56 UTC (rev 23785)
@@ -0,0 +1,10 @@
+<launch>
+  <param name="/use_sim_time" value="true" />
+  <!-- send xml to param server -->
+  <param name="checker"      textfile="$(find gazebo_worlds)/launch/checker.model" />
+
+  <!-- push robot_description to factory and spawn robot in gazebo -->
+  <node pkg="gazebo_tools" type="xml2factory" args="checker 2.0 -.5 .5 0 0 0 checker_model" respawn="false" output="screen" />
+  
+</launch>
+


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