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[Personalrobots-commit] SF.net SVN: personalrobots:[23866] pkg/trunk/sandbox/person_data
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From: <goo...@us...> - 2009-09-04 20:33:37
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Revision: 23866
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23866&view=rev
Author: goodfellow
Date: 2009-09-04 20:33:31 +0000 (Fri, 04 Sep 2009)
Log Message:
-----------
Modifications to make it work on pre
Modified Paths:
--------------
pkg/trunk/sandbox/person_data/calibration_components/person_calibrate.launch
pkg/trunk/sandbox/person_data/common/checkrobot.py
pkg/trunk/sandbox/person_data/data_collector_components/base_odom.xml
pkg/trunk/sandbox/person_data/data_collector_components/person_data.launch
pkg/trunk/sandbox/person_data/data_collector_components/truly_passive.launch
pkg/trunk/sandbox/person_data/scripts/collect_data.sh
Added Paths:
-----------
pkg/trunk/sandbox/person_data/NOTES
pkg/trunk/sandbox/person_data/config/machine1bagdir.txt
pkg/trunk/sandbox/person_data/config/machine2bagdir.txt
pkg/trunk/sandbox/person_data/real_make.sh
Added: pkg/trunk/sandbox/person_data/NOTES
===================================================================
--- pkg/trunk/sandbox/person_data/NOTES (rev 0)
+++ pkg/trunk/sandbox/person_data/NOTES 2009-09-04 20:33:31 UTC (rev 23866)
@@ -0,0 +1 @@
+Currently, there is no /bags directory on pre. Eric said to just put everything in the home directory on pre2.
Modified: pkg/trunk/sandbox/person_data/calibration_components/person_calibrate.launch
===================================================================
--- pkg/trunk/sandbox/person_data/calibration_components/person_calibrate.launch 2009-09-04 20:32:16 UTC (rev 23865)
+++ pkg/trunk/sandbox/person_data/calibration_components/person_calibrate.launch 2009-09-04 20:33:31 UTC (rev 23866)
@@ -1,7 +1,7 @@
<launch>
<node pkg="person_data" type="joylistener" output="screen"/>
<node pkg ="person_data" type="headhack" output="screen" />
-<node pkg ="pr2_default_controllers" type="tuckarm.py" args="r" output="screen" />
+<node pkg ="pr2_experimental_controllers" type="tuckarm.py" args="r" output="screen" />
<!-- for some reason putting joylistener after the other launch files broke it,
and putting headhack after them makes roslaunch not find it! -->
<!-- node pkg="pr2_default_controllers" type="tuckarm.py" args="r" -->
Modified: pkg/trunk/sandbox/person_data/common/checkrobot.py
===================================================================
--- pkg/trunk/sandbox/person_data/common/checkrobot.py 2009-09-04 20:32:16 UTC (rev 23865)
+++ pkg/trunk/sandbox/person_data/common/checkrobot.py 2009-09-04 20:33:31 UTC (rev 23866)
@@ -9,9 +9,9 @@
print "Your ROBOT variable is not set"
quit(-1)
-if sys.argv[1] != "prf" and sys.argv[1] != "prg":
- for i in range(0,1000):
- print "Your ROBOT variable is not set"
- quit(-1)
+#if sys.argv[1] != "prf" and sys.argv[1] != "prg":
+# for i in range(0,1000):
+## print "Your ROBOT variable is not a recognized robot"
+# quit(-1)
quit(0)
Added: pkg/trunk/sandbox/person_data/config/machine1bagdir.txt
===================================================================
--- pkg/trunk/sandbox/person_data/config/machine1bagdir.txt (rev 0)
+++ pkg/trunk/sandbox/person_data/config/machine1bagdir.txt 2009-09-04 20:33:31 UTC (rev 23866)
@@ -0,0 +1 @@
+/pr/2/`whoami`/bags
Added: pkg/trunk/sandbox/person_data/config/machine2bagdir.txt
===================================================================
--- pkg/trunk/sandbox/person_data/config/machine2bagdir.txt (rev 0)
+++ pkg/trunk/sandbox/person_data/config/machine2bagdir.txt 2009-09-04 20:33:31 UTC (rev 23866)
@@ -0,0 +1 @@
+/pr/2/`whoami`/bags
Modified: pkg/trunk/sandbox/person_data/data_collector_components/base_odom.xml
===================================================================
--- pkg/trunk/sandbox/person_data/data_collector_components/base_odom.xml 2009-09-04 20:32:16 UTC (rev 23865)
+++ pkg/trunk/sandbox/person_data/data_collector_components/base_odom.xml 2009-09-04 20:33:31 UTC (rev 23866)
@@ -9,14 +9,15 @@
<node pkg="backup_safetysound" type="backingup.py" machine="four" />
<!-- The robot pose EKF is launched with the base controller-->
-<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
+<!-- commented out because also present in truly_passive.launch
+node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
<param name="freq" value="30.0"/>
<param name="sensor_timeout" value="1.0"/>
<param name="publish_tf" value="true"/>
<param name="odom_used" value="true"/>
<param name="imu_used" value="true"/>
<param name="vo_used" value="false"/>
-</node>
+</node -->
</launch>
Modified: pkg/trunk/sandbox/person_data/data_collector_components/person_data.launch
===================================================================
--- pkg/trunk/sandbox/person_data/data_collector_components/person_data.launch 2009-09-04 20:32:16 UTC (rev 23865)
+++ pkg/trunk/sandbox/person_data/data_collector_components/person_data.launch 2009-09-04 20:33:31 UTC (rev 23866)
@@ -1,7 +1,7 @@
<launch>
<node pkg="person_data" type="joylistener" output="screen"/>
<node pkg ="person_data" type="headhack" output="screen" />
-<node pkg ="pr2_default_controllers" type="tuckarm.py" args="r" output="screen" />
+<node pkg ="pr2_experimental_controllers" type="tuckarm.py" args="r" output="screen" />
<include file="$(find person_data)/data_collector_components/2dnav_pr2.launch" />
Modified: pkg/trunk/sandbox/person_data/data_collector_components/truly_passive.launch
===================================================================
--- pkg/trunk/sandbox/person_data/data_collector_components/truly_passive.launch 2009-09-04 20:32:16 UTC (rev 23865)
+++ pkg/trunk/sandbox/person_data/data_collector_components/truly_passive.launch 2009-09-04 20:33:31 UTC (rev 23866)
@@ -22,6 +22,7 @@
<param name="odom_used" value="true"/>
<param name="imu_used" value="true"/>
<param name="vo_used" value="false"/>
+ <param name="publish_tf" value="true"/>
</node>
<!-- node pkg="tf" machine="two" type="change_notifier"-->
Added: pkg/trunk/sandbox/person_data/real_make.sh
===================================================================
--- pkg/trunk/sandbox/person_data/real_make.sh (rev 0)
+++ pkg/trunk/sandbox/person_data/real_make.sh 2009-09-04 20:33:31 UTC (rev 23866)
@@ -0,0 +1,10 @@
+#Run this to actually make the realtime dependencies
+function rosmake-deps { \
+ #argument is name of launch file \
+ rosmake `roslaunch-deps $1`; \
+}
+
+
+rosmake-deps *.launch */*.launch
+rosmake-deps config/controllers.xml
+rosmake-deps config/perception.xml
Modified: pkg/trunk/sandbox/person_data/scripts/collect_data.sh
===================================================================
--- pkg/trunk/sandbox/person_data/scripts/collect_data.sh 2009-09-04 20:32:16 UTC (rev 23865)
+++ pkg/trunk/sandbox/person_data/scripts/collect_data.sh 2009-09-04 20:33:31 UTC (rev 23866)
@@ -1,10 +1,10 @@
#!/bin/bash
python `rospack find person_data`/common/checkrobot.py ${ROBOT} || exit
+export bagconfig=`rospack find person_data`/config/machine2bagdir.txt
+ssh ${ROBOT}2 mkdir -p `cat ${bagconfig}`
-ssh ${ROBOT}2 mkdir -p /bags/person_data
+#ssh ${ROBOT}3 mkdir -p /bags/person_data
-ssh ${ROBOT}3 mkdir -p /bags/person_data
+#ssh ${ROBOT}4 mkdir -p /bags/person_data
-ssh ${ROBOT}4 mkdir -p /bags/person_data
-
roslaunch `rospack find person_data`/data_collector_components/person_data.launch
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