Thread: [Personalrobots-commit] SF.net SVN: personalrobots:[23412] pkg/trunk/stacks/pr2/pr2_alpha (Page 2)

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[Personalrobots-commit] SF.net SVN: personalrobots:[23412] pkg/trunk/stacks/pr2/pr2_alpha

From: <wa...@us...> - 2009-08-31 21:06:22

Revision: 23412
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23412&view=rev
Author:   wattsk
Date:     2009-08-31 21:06:16 +0000 (Mon, 31 Aug 2009)

Log Message:
-----------
Adding forearm camera to diagnostic analyzer YAMLs for PR2's

Modified Paths:
--------------
    pkg/trunk/stacks/pr2/pr2_alpha/pre_analyzers.yaml
    pkg/trunk/stacks/pr2/pr2_alpha/prf_prg_analyzers.yaml

Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre_analyzers.yaml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre_analyzers.yaml	2009-08-31 21:00:29 UTC (rev 23411)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre_analyzers.yaml	2009-08-31 21:06:16 UTC (rev 23412)
@@ -4,7 +4,8 @@
   contains: [
     'hokuyo',
     'prosilica',
-    'stereodcam',
+    'stereo',
+    'forearm_camera',
     'imu' ]
 computers:
   type: GenericAnalyzer

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf_prg_analyzers.yaml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf_prg_analyzers.yaml	2009-08-31 21:00:29 UTC (rev 23411)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf_prg_analyzers.yaml	2009-08-31 21:06:16 UTC (rev 23412)
@@ -4,7 +4,8 @@
   contains: [
     'hokuyo',
     'prosilica',
-    'stereodcam',
+    'stereo',
+    'forearm_camera',
     'imu' ]
 computers:
   type: GenericAnalyzer


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[Personalrobots-commit] SF.net SVN: personalrobots:[23733] pkg/trunk/stacks/pr2/pr2_alpha

From: <jl...@us...> - 2009-09-03 00:51:12

Revision: 23733
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23733&view=rev
Author:   jleibs
Date:     2009-09-03 00:51:03 +0000 (Thu, 03 Sep 2009)

Log Message:
-----------
Moving ps3 to /dev/sensors/ps3joy

Modified Paths:
--------------
    pkg/trunk/stacks/pr2/pr2_alpha/pre.machine
    pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch

Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre.machine
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre.machine	2009-09-03 00:49:05 UTC (rev 23732)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre.machine	2009-09-03 00:51:03 UTC (rev 23733)
@@ -2,6 +2,9 @@
   <machine name="realtime_root" user="root" address="pre1" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never">
     <env name="PATH" value="$(env PATH):$(env ROS_ROOT)/bin" /> <!-- HACK.  Depends on ROS bug #1586.  Remove when closed -->
   </machine>
+  <machine name="two_root" user="root" address="pre2" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never">
+    <env name="PATH" value="$(env PATH):$(env ROS_ROOT)/bin" /> <!-- HACK.  Depends on ROS bug #1586.  Remove when closed -->
+  </machine>
 
   <machine name="realtime" address="pre1" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="true"/>
   <machine name="two"      address="pre2" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" />

Modified: pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch	2009-09-03 00:49:05 UTC (rev 23732)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch	2009-09-03 00:51:03 UTC (rev 23733)
@@ -2,13 +2,13 @@
   <include file="$(find pr2_alpha)/pre.machine" />
 
   <!-- Start up pairing thing -->
-  <node machine="realtime_root" pkg="ps3joy" output="screen"
+  <node machine="two_root" pkg="ps3joy" output="screen"
         type="ps3joy.py" name="ps3_connector" />
   
   <!-- PS3 joy node -->
-  <node machine="realtime" respawn="true" pkg="ps3joy"
+  <node machine="two" respawn="true" pkg="ps3joy"
         type="ps3_joy_node" name="ps3_joy" >
-    <param name="dev" type="string" value="/dev/input/js1" />
+    <param name="dev" type="string" value="/dev/sensors/ps3joy" />
     <param name="deadzone" value="0.12" />
   </node>
 


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

From: <wa...@us...> - 2009-09-03 02:27:17

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

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

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

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

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

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


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[Personalrobots-commit] SF.net SVN: personalrobots:[23821] pkg/trunk/stacks/pr2/pr2_alpha

From: <wa...@us...> - 2009-09-04 07:05:50

Revision: 23821
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23821&view=rev
Author:   wattsk
Date:     2009-09-04 07:05:40 +0000 (Fri, 04 Sep 2009)

Log Message:
-----------
Changes to PRG launch files for new servers

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

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-09-04 07:03:58 UTC (rev 23820)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-09-04 07:05:40 UTC (rev 23821)
@@ -21,7 +21,7 @@
  </node>
 
 <!-- Battery Monitor -->
-  <node machine="two" pkg="ocean_battery_driver" type="ocean_server"  respawn="true">
+<!--  <node machine="two" pkg="ocean_battery_driver" type="ocean_server"  respawn="true">
     <param name="number_of_ports" type="int" value="4" />
     <param name="port0" type="string" value="/dev/ttyUSB0" />
     <param name="port1" type="string" value="/dev/ttyUSB1" />
@@ -29,6 +29,7 @@
     <param name="port3" type="string" value="/dev/ttyUSB3" />
     <param name="debug_level" type="int" value="0" />
   </node>
+-->
 
   <node pkg="power_monitor" type="power_monitor"  respawn="true"/>
 
@@ -67,7 +68,7 @@
     <param name="acquisition_mode" type="str" value="Triggered"/>
     <param name="ip_address" type="str" value="10.68.7.20"/>
   </group>
-  <node machine="three" name="prosilica" pkg="prosilica_camera" type="prosilica_node" output="screen" respawn="true"/-->
+  <node machine="two" name="prosilica" pkg="prosilica_camera" type="prosilica_node" output="screen" respawn="true"/-->
 
   <!-- Watts: Need to get driver working for stereo on servers -->
 <!-- Double stereo setup -->
@@ -102,7 +103,7 @@
 
 
 <!-- Forearm Camera -->
-  <node machine="three" name="forearm_camera_r" pkg="wge100_camera" type="wge100_camera_node" respawn="true" output="screen">
+  <node machine="two" name="forearm_camera_r" pkg="wge100_camera" type="wge100_camera_node" respawn="true" output="screen">
     <param name="camera_url" type="str" value="name://forearm_r"/>
     <param name="video_mode" type="str" value="640x480x30" />
     <param name="auto_exposure" type="bool" value="True" />

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg.machine
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg.machine	2009-09-04 07:03:58 UTC (rev 23820)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg.machine	2009-09-04 07:05:40 UTC (rev 23821)
@@ -1,7 +1,6 @@
 <launch>
   <machine name="realtime_root" user="root" address="prg1" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never" />
 
-
   <machine name="realtime" address="prg1" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" />
   <machine name="two"      address="prg2" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)"  default="true"/>
 </launch>

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg_ethercat_reset.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg_ethercat_reset.launch	2009-09-04 07:03:58 UTC (rev 23820)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg_ethercat_reset.launch	2009-09-04 07:05:40 UTC (rev 23821)
@@ -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"/>
+  <node machine="realtime_root" pkg="pr2_etherCAT" type="pr2_etherCAT" args="-i ecat0 -x robot_description"/>
 
   <!-- PR2 Calibration -->
   


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[Personalrobots-commit] SF.net SVN: personalrobots:[23863] pkg/trunk/stacks/pr2/pr2_alpha

From: <wa...@us...> - 2009-09-04 20:28:49

Revision: 23863
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23863&view=rev
Author:   wattsk
Date:     2009-09-04 20:28:41 +0000 (Fri, 04 Sep 2009)

Log Message:
-----------
Changes to PRG launch file, works with prosilica and new servers

Modified Paths:
--------------
    pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
    pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-09-04 20:22:44 UTC (rev 23862)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-09-04 20:28:41 UTC (rev 23863)
@@ -1,5 +1,4 @@
 <launch>
-
   <include file="$(find pr2_alpha)/prg.machine" />
   <include file="$(find pr2_alpha)/prg_ethercat_reset.launch" />
 
@@ -21,7 +20,7 @@
  </node>
 
 <!-- Battery Monitor -->
-<!--  <node machine="two" pkg="ocean_battery_driver" type="ocean_server"  respawn="true">
+  <node machine="two" name="ocean_driver" pkg="ocean_battery_driver" type="ocean_server"  respawn="true">
     <param name="number_of_ports" type="int" value="4" />
     <param name="port0" type="string" value="/dev/ttyUSB0" />
     <param name="port1" type="string" value="/dev/ttyUSB1" />
@@ -29,22 +28,20 @@
     <param name="port3" type="string" value="/dev/ttyUSB3" />
     <param name="debug_level" type="int" value="0" />
   </node>
--->
 
   <node pkg="power_monitor" type="power_monitor"  respawn="true"/>
 
 
 <!-- Base Laser -->
   <node machine="two" pkg="hokuyo_node" type="hokuyo_node" name="base_hokuyo_node" args="scan:=base_scan">
-    <param name="port" type="string" value="/dev/ttyACM0" />
+    <param name="port" type="string" value="/dev/ttyACM1" />
     <param name="frameid" type="string" value="base_laser" />
     <param name="min_ang_degrees" type="double" value="-130.0" />
     <param name="max_ang_degrees" type="double" value="130.0" />
   </node>
 
-
 <!-- Tilt Laser -->
-  <node  machine="realtime" pkg="hokuyo_node" type="hokuyo_node" name="tilt_hokuyo_node" args="scan:=tilt_scan">
+  <node  machine="two" pkg="hokuyo_node" type="hokuyo_node" name="tilt_hokuyo_node" args="scan:=tilt_scan">
     <param name="port" type="string" value="/dev/ttyACM0" />
     <param name="frameid" type="string" value="laser_tilt_link" />
     <param name="min_ang_degrees" type="double" value="-70.0" />
@@ -63,12 +60,12 @@
   <node machine="realtime" pkg="imu_node" type="imu_node" output="screen"/>
 
 <!-- Prosilica camera setup -->
-  <!--group ns="prosilica">
+  <group ns="prosilica">
     <include file="$(find prosilica_camera)/cam_settings.xml"/>
     <param name="acquisition_mode" type="str" value="Triggered"/>
-    <param name="ip_address" type="str" value="10.68.7.20"/>
+    <param name="ip_address" type="str" value="10.68.0.20"/>
   </group>
-  <node machine="two" name="prosilica" pkg="prosilica_camera" type="prosilica_node" output="screen" respawn="true"/-->
+  <node machine="two" name="prosilica" pkg="prosilica_camera" type="prosilica_node" output="screen" respawn="true"/>
 
   <!-- Watts: Need to get driver working for stereo on servers -->
 <!-- Double stereo setup -->
@@ -122,7 +119,8 @@
     -->
 
   <!-- Runtime Diagnostics Logging -->
-  <node pkg="rosrecord" type="rosrecord" args="-f /hwlog/prg_runtime_automatic /diagnostics" />
+  <node name="runtime_logger" machine="realtime" pkg="rosrecord" 
+  type="rosrecord" args="-f /hwlog/prg_runtime_automatic /diagnostics" />
   
 <!-- Joint Calibration Monitor -->
 <!--

Modified: pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch	2009-09-04 20:22:44 UTC (rev 23862)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch	2009-09-04 20:28:41 UTC (rev 23863)
@@ -1,6 +1,8 @@
 <launch>
-  <include file="$(find pr2_alpha)/pre.machine" />
+  <machine name="two_root" address="c2" user="root" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)"  />
 
+  <machine name="two" address="c2" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)"  />
+
   <!-- Start up pairing thing -->
   <node machine="two_root" pkg="ps3joy" output="screen"
         type="ps3joy.py" name="ps3_connector" />


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