personalrobots-commit

[Personalrobots-commit] SF.net SVN: personalrobots:[17754] pkg/trunk/stacks/pr2/pr2_alpha

[<wa...@us...>]

Revision: 17754
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=17754&view=rev
Author:   wattsk
Date:     2009-06-26 04:13:38 +0000 (Fri, 26 Jun 2009)

Log Message:
-----------
Moved disk_usage.py to pr2_computer_monitor

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

Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-06-26 04:11:49 UTC (rev 17753)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-06-26 04:13:38 UTC (rev 17754)
@@ -63,10 +63,10 @@
   <node pkg="runtime_monitor" type="ntp_monitor.py" args="pre2" machine="four"/>
 
 <!-- Disk usage monitoring script Warns to console if disk full -->
-  <node pkg="runtime_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="realtime"/>
-  <node pkg="runtime_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="two"/> 
-  <node pkg="runtime_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="three"/>
-  <node pkg="runtime_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="four"/>   
+  <node pkg="pr2_computer_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="realtime"/>
+  <node pkg="pr2_computer_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="two"/> 
+  <node pkg="pr2_computer_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="three"/>
+  <node pkg="pr2_computer_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="four"/>   
 
 </launch>
 

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf.launch	2009-06-26 04:11:49 UTC (rev 17753)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf.launch	2009-06-26 04:13:38 UTC (rev 17754)
@@ -78,10 +78,10 @@
   <node pkg="runtime_monitor" type="ntp_monitor.py" args="prf2" machine="four"/>
 
 <!-- Disk usage monitoring script Warns to console if disk full -->
-  <node pkg="runtime_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="realtime"/>
-  <node pkg="runtime_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="two"/> 
-  <node pkg="runtime_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="three"/>
-  <node pkg="runtime_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="four"/>   
+  <node pkg="pr2_computer_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="realtime"/>
+  <node pkg="pr2_computer_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="two"/> 
+  <node pkg="pr2_computer_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="three"/>
+  <node pkg="pr2_computer_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="four"/>   
 
   <!-- Plug to chessboard offsets -->
   <group ns="plug_detector">

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-06-26 04:11:49 UTC (rev 17753)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-06-26 04:13:38 UTC (rev 17754)
@@ -71,10 +71,10 @@
   <node pkg="runtime_monitor" type="ntp_monitor.py" args="prg2" machine="three"/>
   <node pkg="runtime_monitor" type="ntp_monitor.py" args="prg2" machine="four"/>   
 <!-- Disk usage monitoring script Warns to console if disk full -->
-  <node pkg="runtime_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="realtime"/>
-  <node pkg="runtime_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="two"/> 
-  <node pkg="runtime_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="three"/>
-  <node pkg="runtime_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="four"/>   
+  <node pkg="pr2_computer_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="realtime"/>
+  <node pkg="pr2_computer_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="two"/> 
+  <node pkg="pr2_computer_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="three"/>
+  <node pkg="pr2_computer_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="four"/>   
 
   <!-- Videre Stereo cam -->
   <include file="$(find pr2_alpha)/stereo.launch" />


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[Personalrobots-commit] SF.net SVN: personalrobots:[17775] pkg/trunk/stacks/pr2/pr2_alpha

[<wa...@us...>]

Revision: 17775
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=17775&view=rev
Author:   wattsk
Date:     2009-06-26 20:33:35 +0000 (Fri, 26 Jun 2009)

Log Message:
-----------
Adding teleop keyboard launch file and dependency on teleop_pr2

Modified Paths:
--------------
    pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml

Added Paths:
-----------
    pkg/trunk/stacks/pr2/pr2_alpha/teleop_keyboard.launch

Modified: pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml	2009-06-26 20:33:27 UTC (rev 17774)
+++ pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml	2009-06-26 20:33:35 UTC (rev 17775)
@@ -27,6 +27,7 @@
   <depend package="forearm_cam" />
   <depend package="robot_state_publisher" />
   <depend package="prosilica_cam" />
+  <depend package="teleop_pr2" />
   <depend package="mechanism_bringup" />
   <!-- For testing -->
   <depend package="std_msgs"/>

Added: pkg/trunk/stacks/pr2/pr2_alpha/teleop_keyboard.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_keyboard.launch	                        (rev 0)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_keyboard.launch	2009-06-26 20:33:35 UTC (rev 17775)
@@ -0,0 +1,26 @@
+<launch>
+
+<param name="base_controller/odom_publish_rate" value="30.0"/>
+<param name="base_controller/autostart" value="true"/>
+<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" output="screen"/>
+
+<!-- The robot pose EKF is launched with the base controller-->
+<param name="robot_pose_ekf/freq" value="30.0"/>
+<param name="robot_pose_ekf/sensor_timeout" value="1.0"/>
+<param name="robot_pose_ekf/odom_used" value="true"/>
+<param name="robot_pose_ekf/imu_used" value="true"/>
+<param name="robot_pose_ekf/vo_used" value="false"/>
+<node pkg="robot_pose_ekf" type="robot_pose_ekf" args="robot_pose_ekf"/>
+
+<param name="walk_vel" value="0.5" />
+<param name="run_vel" value="1.0" />
+<param name="yaw_rate" value="1.0" />
+<param name="yaw_run_rate" value="1.5" />
+
+
+<node pkg="teleop_pr2" type="teleop_pr2_keyboard" output="screen"/>
+
+
+
+</launch>
+


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[Personalrobots-commit] SF.net SVN: personalrobots:[17962] pkg/trunk/stacks/pr2/pr2_alpha

[<bla...@us...>]

Revision: 17962
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=17962&view=rev
Author:   blaisegassend
Date:     2009-06-30 06:47:20 +0000 (Tue, 30 Jun 2009)

Log Message:
-----------

Turned autocalibration back on for the imu on all robots.

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

Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-06-30 06:45:20 UTC (rev 17961)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-06-30 06:47:20 UTC (rev 17962)
@@ -45,7 +45,7 @@
   <param name="imu/port"  type="string" value="/dev/ttyUSB0" />
   <param name="imu/autostart" type="bool" value="true" />
   <param name="imu/frameid"  type="string" value="imu" />
-  <param name="imu/autocalibrate" type="bool" value="false" />
+  <param name="imu/autocalibrate" type="bool" value="true" />
   <node machine="realtime" pkg="imu_node" type="imu_node" output="screen"/>
 
 <!-- Videre Stereo cam 

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf.launch	2009-06-30 06:45:20 UTC (rev 17961)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf.launch	2009-06-30 06:47:20 UTC (rev 17962)
@@ -44,7 +44,7 @@
   <param name="imu/port"  type="string" value="/dev/ttyUSB0" />
   <param name="imu/autostart" type="bool" value="true" />
   <param name="imu/frameid"  type="string" value="imu" />
-  <param name="imu/autocalibrate" type="bool" value="false" />
+  <param name="imu/autocalibrate" type="bool" value="true" />
   <node machine="four" pkg="imu_node" type="imu_node" output="screen"/>
 
   <!-- Videre Stereo cam -->

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-06-30 06:45:20 UTC (rev 17961)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-06-30 06:47:20 UTC (rev 17962)
@@ -44,7 +44,7 @@
   <param name="imu/port"  type="string" value="/dev/ttyUSB0" />
   <param name="imu/autostart" type="bool" value="true" />
   <param name="imu/frameid"  type="string" value="imu" />
-  <param name="imu/autocalibrate" type="bool" value="false" />
+  <param name="imu/autocalibrate" type="bool" value="true" />
   <node machine="four" pkg="imu_node" type="imu_node" output="screen"/>
 
 <!-- Prosilica camera setup -->


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[Personalrobots-commit] SF.net SVN: personalrobots:[18388] pkg/trunk/stacks/pr2/pr2_alpha

[<wa...@us...>]

Revision: 18388
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18388&view=rev
Author:   wattsk
Date:     2009-07-07 05:39:03 +0000 (Tue, 07 Jul 2009)

Log Message:
-----------
Added computer monitoring to PRF, PRG launch files

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

Added Paths:
-----------
    pkg/trunk/stacks/pr2/pr2_alpha/pr2_monitors.launch

Added: pkg/trunk/stacks/pr2/pr2_alpha/pr2_monitors.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pr2_monitors.launch	                        (rev 0)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pr2_monitors.launch	2009-07-07 05:39:03 UTC (rev 18388)
@@ -0,0 +1,15 @@
+<launch>
+ 
+  <!-- Disk usage monitor -->
+  <node pkg="pr2_computer_monitor" type="hd_monitor.py" args="$(optenv HOME /home) /dev/sda" machine="realtime_root"/>
+  <node pkg="pr2_computer_monitor" type="hd_monitor.py" args="$(optenv HOME /home) /dev/sda" machine="two_root"/> 
+  <node pkg="pr2_computer_monitor" type="hd_monitor.py" args="$(optenv HOME /home) /dev/sda" machine="three_root"/> 
+  <node pkg="pr2_computer_monitor" type="hd_monitor.py" args="$(optenv HOME /home) /dev/sda" machine="four_root"/> 
+
+  <!-- CPU monitors -->
+  <node pkg="pr2_computer_monitor" type="cpu_monitor.py" args="--no_cpu_temp" machine="realtime_root"/>
+  <node pkg="pr2_computer_monitor" type="cpu_monitor.py" args="--no_cpu_temp" machine="two_root"/> 
+  <node pkg="pr2_computer_monitor" type="cpu_monitor.py" args="--no_cpu_temp" machine="three_root"/> 
+  <node pkg="pr2_computer_monitor" type="cpu_monitor.py" args="--no_cpu_temp" achine="four_root"/> 
+
+</launch>
\ No newline at end of file

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf.launch	2009-07-07 05:32:40 UTC (rev 18387)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf.launch	2009-07-07 05:39:03 UTC (rev 18388)
@@ -77,11 +77,8 @@
   <node pkg="runtime_monitor" type="ntp_monitor.py" args="prf2" machine="three"/>
   <node pkg="runtime_monitor" type="ntp_monitor.py" args="prf2" machine="four"/>
 
-<!-- Disk usage monitoring script Warns to console if disk full -->
-  <node pkg="pr2_computer_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="realtime"/>
-  <node pkg="pr2_computer_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="two"/> 
-  <node pkg="pr2_computer_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="three"/>
-  <node pkg="pr2_computer_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="four"/>   
+<!-- Disk, CPU monitoring scripts. -->
+  <include file="$(find pr2_alpha)/pr2_monitors.launch" />
 
   <!-- Plug to chessboard offsets -->
   <group ns="plug_detector">

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf.machine
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf.machine	2009-07-07 05:32:40 UTC (rev 18387)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf.machine	2009-07-07 05:39:03 UTC (rev 18388)
@@ -1,6 +1,12 @@
 <launch>
+  <!-- Need realtime root machine for pr2_etherCAT -->
   <machine name="realtime_root" user="root" address="prf1" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never" />
 
+  <!-- Root access to all machines for computer monitoring -->
+  <machine name="two_root" user="root" address="prf2" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never" />
+  <machine name="three_root" user="root" address="prf3" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never" />
+  <machine name="four_root" user="root" address="prf4" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never" />
+
   <machine name="realtime" address="prf1" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" />
   <machine name="two" address="prf2" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)"  default="true" />
   <machine name="three" address="prf3" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" />

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-07-07 05:32:40 UTC (rev 18387)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-07-07 05:39:03 UTC (rev 18388)
@@ -72,13 +72,11 @@
   <node pkg="runtime_monitor" type="ntp_monitor.py" args="prg2" machine="realtime"/>
   <node pkg="runtime_monitor" type="ntp_monitor.py" args="fw1 7000" machine="two"/> 
   <node pkg="runtime_monitor" type="ntp_monitor.py" args="prg2" machine="three"/>
-  <node pkg="runtime_monitor" type="ntp_monitor.py" args="prg2" machine="four"/>   
-<!-- Disk usage monitoring script Warns to console if disk full -->
-  <node pkg="pr2_computer_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="realtime"/>
-  <node pkg="pr2_computer_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="two"/> 
-  <node pkg="pr2_computer_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="three"/>
-  <node pkg="pr2_computer_monitor" type="disk_usage.py" args="$(optenv HOME /home)" machine="four"/>   
+  <node pkg="runtime_monitor" type="ntp_monitor.py" args="prg2" machine="four"/>
 
+<!-- Disk, CPU monitoring scripts. -->
+  <include file="$(find pr2_alpha)/pr2_monitors.launch" />
+
   <!-- Videre Stereo cam -->
   <include file="$(find pr2_alpha)/stereo.launch" />
 

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg.machine
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg.machine	2009-07-07 05:32:40 UTC (rev 18387)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg.machine	2009-07-07 05:39:03 UTC (rev 18388)
@@ -1,9 +1,16 @@
 <launch>
   <machine name="realtime_root" user="root" address="prg1" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never" />
 
+  <!-- Root access to all machines for computer monitoring -->
+  <machine name="two_root" user="root" address="prg2" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never" />
+  <machine name="three_root" user="root" address="prg3" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never" />
+  <machine name="four_root" user="root" address="prg4" 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:[18884] pkg/trunk/stacks/pr2/pr2_alpha

[<mm...@us...>]

Revision: 18884
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18884&view=rev
Author:   mmwise
Date:     2009-07-15 20:46:17 +0000 (Wed, 15 Jul 2009)

Log Message:
-----------
switching the telop_joystick to the new head_postion_controller

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

Removed Paths:
-------------
    pkg/trunk/stacks/pr2/pr2_alpha/head.launch
    pkg/trunk/stacks/pr2/pr2_alpha/head_pan_tilt_controller.xml

Deleted: pkg/trunk/stacks/pr2/pr2_alpha/head.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/head.launch	2009-07-15 20:45:27 UTC (rev 18883)
+++ pkg/trunk/stacks/pr2/pr2_alpha/head.launch	2009-07-15 20:46:17 UTC (rev 18884)
@@ -1,5 +0,0 @@
-<launch>
-  <node pkg="mechanism_control" type="spawner.py" args="'$(find pr2_alpha)/head_pan_tilt_controller.xml" />
-  <node pkg="pr2_mechanism_controllers" type="pointhead.py" args="0 0.15"/>
-</launch>
-

Deleted: pkg/trunk/stacks/pr2/pr2_alpha/head_pan_tilt_controller.xml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/head_pan_tilt_controller.xml	2009-07-15 20:45:27 UTC (rev 18883)
+++ pkg/trunk/stacks/pr2/pr2_alpha/head_pan_tilt_controller.xml	2009-07-15 20:46:17 UTC (rev 18884)
@@ -1,16 +0,0 @@
-<controllers>
-<controller name="head_controller" type="HeadPanTiltControllerNode"> 
-    <controller name="head_pan_controller" topic="head_pan_controller" type="JointPositionController">
-      <joint name="head_pan_joint" >
-        <pid p="10.0" d="0.5" i="12.0" iClamp="0.5" />
-      </joint>
-    </controller>
-    
-    <controller name="head_tilt_controller" topic="head_tilt_controller" type="JointPositionController">
-      <joint name="head_tilt_joint" >
-        <pid p="16.4" d=".4" i="2.0" iClamp="0.1" />
-      </joint>
-    </controller>
-    
-</controller>    
-</controllers>

Modified: pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch	2009-07-15 20:45:27 UTC (rev 18883)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch	2009-07-15 20:46:17 UTC (rev 18884)
@@ -6,8 +6,10 @@
 
 <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/torso_lift_vel_controller.xml" output="screen" />
 
-<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/head_pan_tilt_controller.xml" output="screen" />
 
+<include file="$(find pr2_default_controllers)/head_position_controller.launch" />
+
+
 <!-- The robot pose EKF is launched with the base controller-->
 <include file="$(find robot_pose_ekf)/robot_pose_ekf.launch" />
 


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[Personalrobots-commit] SF.net SVN: personalrobots:[19312] pkg/trunk/stacks/pr2/pr2_alpha

[<wa...@us...>]

Revision: 19312
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=19312&view=rev
Author:   wattsk
Date:     2009-07-21 18:58:08 +0000 (Tue, 21 Jul 2009)

Log Message:
-----------
pr2_computer_monitors don't require root access

Modified Paths:
--------------
    pkg/trunk/stacks/pr2/pr2_alpha/pr2_monitors.launch
    pkg/trunk/stacks/pr2/pr2_alpha/pre.machine
    pkg/trunk/stacks/pr2/pr2_alpha/prf.machine
    pkg/trunk/stacks/pr2/pr2_alpha/prg.machine

Modified: pkg/trunk/stacks/pr2/pr2_alpha/pr2_monitors.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pr2_monitors.launch	2009-07-21 18:57:36 UTC (rev 19311)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pr2_monitors.launch	2009-07-21 18:58:08 UTC (rev 19312)
@@ -8,15 +8,15 @@
   <param name="enforce_clock_speed" value="False" />
 
   <!-- Disk usage monitor -->
-  <node pkg="pr2_computer_monitor" type="hd_monitor.py" machine="realtime_root"/>
-  <node pkg="pr2_computer_monitor" type="hd_monitor.py" args="$(optenv HOME /home)" machine="two_root"/> 
-  <node pkg="pr2_computer_monitor" type="hd_monitor.py" machine="three_root"/> 
-  <node pkg="pr2_computer_monitor" type="hd_monitor.py" machine="four_root"/> 
+  <node pkg="pr2_computer_monitor" type="hd_monitor.py" machine="realtime"/>
+  <node pkg="pr2_computer_monitor" type="hd_monitor.py" args="$(optenv HOME /home)" machine="two"/> 
+  <node pkg="pr2_computer_monitor" type="hd_monitor.py" machine="three"/> 
+  <node pkg="pr2_computer_monitor" type="hd_monitor.py" machine="four"/> 
 
   <!-- CPU monitors -->
-  <node pkg="pr2_computer_monitor" type="cpu_monitor.py" machine="realtime_root"/>
-  <node pkg="pr2_computer_monitor" type="cpu_monitor.py" machine="two_root"/> 
-  <node pkg="pr2_computer_monitor" type="cpu_monitor.py" machine="three_root"/> 
-  <node pkg="pr2_computer_monitor" type="cpu_monitor.py" machine="four_root"/> 
+  <node pkg="pr2_computer_monitor" type="cpu_monitor.py" machine="realtime"/>
+  <node pkg="pr2_computer_monitor" type="cpu_monitor.py" machine="two"/> 
+  <node pkg="pr2_computer_monitor" type="cpu_monitor.py" machine="three"/> 
+  <node pkg="pr2_computer_monitor" type="cpu_monitor.py" machine="four"/> 
 
 </launch>
\ No newline at end of file

Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre.machine
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre.machine	2009-07-21 18:57:36 UTC (rev 19311)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre.machine	2009-07-21 18:58:08 UTC (rev 19312)
@@ -4,6 +4,5 @@
   <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)" />
 
-  <machine name="two_root"      user="root" address="pre2" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" />
   <machine name="stereo"   address="pre2" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" />
 </launch>

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf.machine
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf.machine	2009-07-21 18:57:36 UTC (rev 19311)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf.machine	2009-07-21 18:58:08 UTC (rev 19312)
@@ -2,11 +2,6 @@
   <!-- Need realtime root machine for pr2_etherCAT -->
   <machine name="realtime_root" user="root" address="prf1" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never" />
 
-  <!-- Root access to all machines for computer monitoring -->
-  <machine name="two_root" user="root" address="prf2" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never" />
-  <machine name="three_root" user="root" address="prf3" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never" />
-  <machine name="four_root" user="root" address="prf4" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never" />
-
   <machine name="realtime" address="prf1" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" />
   <machine name="two" address="prf2" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)"  default="true" />
   <machine name="three" address="prf3" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" />

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg.machine
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg.machine	2009-07-21 18:57:36 UTC (rev 19311)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg.machine	2009-07-21 18:58:08 UTC (rev 19312)
@@ -1,11 +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" />
 
-  <!-- Root access to all machines for computer monitoring -->
-  <machine name="two_root" user="root" address="prg2" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never" />
-  <machine name="three_root" user="root" address="prg3" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never" />
-  <machine name="four_root" user="root" address="prg4" 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)" />


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[Personalrobots-commit] SF.net SVN: personalrobots:[19734] pkg/trunk/stacks/pr2/pr2_alpha

[<mar...@us...>]

Revision: 19734
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=19734&view=rev
Author:   mariusmuja
Date:     2009-07-27 19:05:50 +0000 (Mon, 27 Jul 2009)

Log Message:
-----------
Fixed stereo frame names

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

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf.launch	2009-07-27 19:05:24 UTC (rev 19733)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf.launch	2009-07-27 19:05:50 UTC (rev 19734)
@@ -64,7 +64,7 @@
     <node machine="four" pkg="dcam" type="stereodcam" name="stereodcam" respawn="false" >
       <param name="videre_mode" type="str" value="none"/>
       <param name="fps" type="double" value="15.0"/>
-      <param name="frame_id" type="string" value="double_stereo_wide_optical_frame"/>
+      <param name="frame_id" type="string" value="wide_stereo_optical_frame"/>
       <param name="exposure_auto" type="bool" value="true"/>
       <param name="brightness_auto" type="bool" value="true"/>
       <param name="gain_auto" type="bool" value="true"/>
@@ -76,7 +76,7 @@
     <node machine="three" pkg="dcam" type="stereodcam" name="stereodcam" respawn="false" >
       <param name="videre_mode" type="str" value="none"/>
       <param name="fps" type="double" value="30.0"/>
-      <param name="frame_id" type="string" value="double_stereo_narrow_optical_frame"/>
+      <param name="frame_id" type="string" value="narrow_stereo_optical_frame"/>
       <param name="exposure" type="int" value="10"/>
       <param name="exposure_auto" type="bool" value="false"/>
       <param name="brightness_auto" type="bool" value="true"/>

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-07-27 19:05:24 UTC (rev 19733)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-07-27 19:05:50 UTC (rev 19734)
@@ -64,7 +64,7 @@
     <node machine="four" pkg="dcam" type="stereodcam" name="stereodcam" respawn="false" >
       <param name="videre_mode" type="str" value="none"/>
       <param name="fps" type="double" value="15.0"/>
-      <param name="frame_id" type="string" value="double_stereo_wide_optical_frame"/>
+      <param name="frame_id" type="string" value="wide_stereo_optical_frame"/>
       <param name="exposure_auto" type="bool" value="true"/>
       <param name="brightness_auto" type="bool" value="true"/>
       <param name="gain_auto" type="bool" value="true"/>
@@ -76,7 +76,7 @@
     <node machine="three" pkg="dcam" type="stereodcam" name="stereodcam" respawn="false" >
       <param name="videre_mode" type="str" value="none"/>
       <param name="fps" type="double" value="15.0"/>
-      <param name="frame_id" type="string" value="double_stereo_narrow_optical_frame"/>
+      <param name="frame_id" type="string" value="narrow_stereo_optical_frame"/>
       <param name="exposure" type="int" value="6"/>
       <param name="exposure_auto" type="bool" value="false"/>
       <param name="brightness_auto" type="bool" value="true"/>


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[Personalrobots-commit] SF.net SVN: personalrobots:[19762] pkg/trunk/stacks/pr2/pr2_alpha

[<sac...@us...>]

Revision: 19762
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=19762&view=rev
Author:   sachinchitta
Date:     2009-07-27 22:46:15 +0000 (Mon, 27 Jul 2009)

Log Message:
-----------
fixing a few more launch files for base controller changes

Modified Paths:
--------------
    pkg/trunk/stacks/pr2/pr2_alpha/teleop_base_spaceball.launch
    pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch
    pkg/trunk/stacks/pr2/pr2_alpha/teleop_keyboard.launch
    pkg/trunk/stacks/pr2/pr2_alpha/wheel_odometry_calibrate.launch

Modified: pkg/trunk/stacks/pr2/pr2_alpha/teleop_base_spaceball.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_base_spaceball.launch	2009-07-27 22:43:25 UTC (rev 19761)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_base_spaceball.launch	2009-07-27 22:46:15 UTC (rev 19762)
@@ -1,7 +1,10 @@
 <launch>
-<param name="base_controller/odom_publish_rate" value="30.0"/>
-<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" output="screen"/>
+ <rosparam file="$(find pr2_default_controllers)/pr2_base_controller.yaml" command="load" ns="pr2_base_controller" />
+ <rosparam file="$(find pr2_default_controllers)/pr2_odometry.yaml" command="load" ns="pr2_odometry" />
+<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/pr2_base_controller.xml" output="screen"/>
+<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/pr2_base_odometry.xml" output="screen"/>
 
+
   <group name="wg">
 <param name="axis_vx" value="0" type="int"/>
 <param name="axis_vy" value="1" type="int"/>

Modified: pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch	2009-07-27 22:43:25 UTC (rev 19761)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch	2009-07-27 22:46:15 UTC (rev 19762)
@@ -2,9 +2,9 @@
 
  <rosparam file="$(find pr2_default_controllers)/pr2_base_controller.yaml" command="load" ns="pr2_base_controller" />
  <rosparam file="$(find pr2_default_controllers)/pr2_odometry.yaml" command="load" ns="pr2_odometry" />
-
 <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/pr2_base_controller.xml" output="screen"/>
 <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/pr2_base_odometry.xml" output="screen"/>
+
 <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/torso_lift_vel_controller.xml" output="screen" />
 
 <include file="$(find pr2_default_controllers)/head_position_controller.launch" />

Modified: pkg/trunk/stacks/pr2/pr2_alpha/teleop_keyboard.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_keyboard.launch	2009-07-27 22:43:25 UTC (rev 19761)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_keyboard.launch	2009-07-27 22:46:15 UTC (rev 19762)
@@ -1,9 +1,11 @@
 <launch>
+ <rosparam file="$(find pr2_default_controllers)/pr2_base_controller.yaml" command="load" ns="pr2_base_controller" />
+ <rosparam file="$(find pr2_default_controllers)/pr2_odometry.yaml" command="load" ns="pr2_odometry" />
 
-<param name="base_controller/odom_publish_rate" value="30.0"/>
-<param name="base_controller/autostart" value="true"/>
-<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" output="screen"/>
+<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/pr2_base_controller.xml" output="screen"/>
+<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/pr2_base_odometry.xml" output="screen"/>
 
+
 <!-- The robot pose EKF is launched with the base controller-->
 <param name="robot_pose_ekf/freq" value="30.0"/>
 <param name="robot_pose_ekf/sensor_timeout" value="1.0"/>

Modified: pkg/trunk/stacks/pr2/pr2_alpha/wheel_odometry_calibrate.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/wheel_odometry_calibrate.launch	2009-07-27 22:43:25 UTC (rev 19761)
+++ pkg/trunk/stacks/pr2/pr2_alpha/wheel_odometry_calibrate.launch	2009-07-27 22:46:15 UTC (rev 19762)
@@ -1,7 +1,10 @@
 <launch>
-<param name="base_controller/odom_publish_rate" value="30.0"/>
-<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/base_controller.xml" output="screen"/>
+ <rosparam file="$(find pr2_default_controllers)/pr2_base_controller.yaml" command="load" ns="pr2_base_controller" />
+ <rosparam file="$(find pr2_default_controllers)/pr2_odometry.yaml" command="load" ns="pr2_odometry" />
 
+<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/pr2_base_controller.xml" output="screen"/>
+<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/pr2_base_odometry.xml" output="screen"/>
+
 <param name="odom_calibration/rot_vel" value="0.5"/>
 <param name="odom_calibration/trans_vel" value="0.0"/>
 <param name="odom_calibration/duration" value="10.0"/>


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[Personalrobots-commit] SF.net SVN: personalrobots:[19790] pkg/trunk/stacks/pr2/pr2_alpha

[<wa...@us...>]

Revision: 19790
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=19790&view=rev
Author:   wattsk
Date:     2009-07-28 01:25:36 +0000 (Tue, 28 Jul 2009)

Log Message:
-----------
Teleop PS3 launch file for PRE, joystick commented out for now until we can verify socket works and all that

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

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

Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-07-28 01:21:48 UTC (rev 19789)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-07-28 01:25:36 UTC (rev 19790)
@@ -3,10 +3,15 @@
   <include file="$(find pr2_alpha)/pre.machine" />
   <include file="$(find pr2_alpha)/pre_ethercat_reset.launch" />
 
-<!-- Joystick -->
-  <param name="joy/deadzone" value="5000"/>
-  <node machine="two" pkg="joy" type="joy"  respawn="true"/>
 
+<!-- PS3 joystick for A2 servers on PRE -->
+<!-- Watts Commenting out until joystick driver works all the way, and python dev selector is tested 
+  <node machine="two" pkg="joy" type="ps3_joy" name="joy" respawn="true" >
+  <param name="deadzone" value="0.10" />
+  <param name="dev" value="/dev/input/js1" />
+  </node>
+-->
+
 <!-- Power Board Control Node -->
   <node machine="two" pkg="pr2_power_board" type="power_node"  respawn="true"/>
 

Added: pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch	                        (rev 0)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch	2009-07-28 01:25:36 UTC (rev 19790)
@@ -0,0 +1,44 @@
+<launch>
+
+ <rosparam file="$(find pr2_default_controllers)/pr2_base_controller.yaml" command="load" ns="pr2_base_controller" />
+ <rosparam file="$(find pr2_default_controllers)/pr2_odometry.yaml" command="load" ns="pr2_odometry" />
+<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/pr2_base_controller.xml" output="screen"/>
+<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/pr2_base_odometry.xml" output="screen"/>
+
+<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/torso_lift_vel_controller.xml" output="screen" />
+
+<include file="$(find pr2_default_controllers)/head_position_controller.launch" />
+
+
+<!-- The robot pose EKF is launched with the base controller-->
+<include file="$(find robot_pose_ekf)/robot_pose_ekf.launch" />
+
+  <group name="ps3_teleop">
+<param name="axis_vx" value="3" type="int"/>
+<param name="axis_vy" value="2" type="int"/>
+<param name="axis_vw" value="0" type="int"/>
+<param name="axis_pan" value="0" type="int"/>
+<param name="axis_tilt" value="3" type="int"/>
+
+<param name="max_vw" value="0.8" />
+<param name="max_vx" value="0.5" />
+<param name="max_vy" value="0.5" />
+<param name="max_vw_run" value="1.4" />
+<param name="max_vx_run" value="1.0" />
+<param name="max_vy_run" value="1.0" />
+<param name="tilt_step" value="0.1" />
+<param name="pan_step" value="0.1" />
+
+<!-- Buttons have changed for PS3 controller mapping -->
+<param name="run_button" value="7" type="int" />
+<param name="torso_dn_button" value="1" type="int" />
+<param name="torso_up_button" value="2" type="int" />
+<param name="head_button" value="4" type="int" />
+<param name="deadman_button" value="6" type="int"/>
+
+<node pkg="teleop_pr2" type="teleop_pr2" output="screen"/>
+  </group>
+
+
+</launch>
+


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[Personalrobots-commit] SF.net SVN: personalrobots:[19817] pkg/trunk/stacks/pr2/pr2_alpha

[<wa...@us...>]

Revision: 19817
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=19817&view=rev
Author:   wattsk
Date:     2009-07-28 03:00:43 +0000 (Tue, 28 Jul 2009)

Log Message:
-----------
PS3 Joystick updates and fixes

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

Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-07-28 02:59:51 UTC (rev 19816)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-07-28 03:00:43 UTC (rev 19817)
@@ -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 
-  <node machine="two" pkg="joy" type="ps3_joy" name="joy" respawn="true" >
-  <param name="deadzone" value="0.10" />
-  <param name="dev" value="/dev/input/js1" />
+<!-- Watts Commenting out until joystick driver works all the way, and python dev selector is tested. Launch joy with joy/ps3.launch
+  <node machine="realtime" pkg="joy" type="ps3_joy" name="joy" respawn="true" >
+    <param name="deadzone" value="0.10" />
+    <param name="dev" value="/dev/input/js1" />
   </node>
 -->
 

Modified: pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch	2009-07-28 02:59:51 UTC (rev 19816)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch	2009-07-28 03:00:43 UTC (rev 19817)
@@ -26,8 +26,11 @@
 <param name="max_vw_run" value="1.4" />
 <param name="max_vx_run" value="1.0" />
 <param name="max_vy_run" value="1.0" />
-<param name="tilt_step" value="0.1" />
-<param name="pan_step" value="0.1" />
+<param name="max_pan" value="2.7" />
+<param name="max_tilt" value="1.4" />
+<param name="min_tilt" value="-0.4" />
+<param name="tilt_step" value="0.015" />
+<param name="pan_step" value="0.02" />
 
 <!-- Buttons have changed for PS3 controller mapping -->
 <param name="run_button" value="7" type="int" />


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[Personalrobots-commit] SF.net SVN: personalrobots:[20193] pkg/trunk/stacks/pr2/pr2_alpha

[<stu...@us...>]

Revision: 20193
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=20193&view=rev
Author:   stuglaser
Date:     2009-07-30 21:34:01 +0000 (Thu, 30 Jul 2009)

Log Message:
-----------
Runs the script for sending joint states to diagnostics

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

Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-07-30 21:31:50 UTC (rev 20192)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-07-30 21:34:01 UTC (rev 20193)
@@ -79,5 +79,8 @@
   <node pkg="pr2_computer_monitor" type="cpu_monitor.py" machine="realtime" />
   <node pkg="pr2_computer_monitor" type="cpu_monitor.py" machine="two" />
 
+  <!-- Joint states diagnostics logging -->
+  <node pkg="mechanism_control" node="joints_to_diagnostics.py" machine="realtime" />
+
 </launch>
 

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf.launch	2009-07-30 21:31:50 UTC (rev 20192)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf.launch	2009-07-30 21:34:01 UTC (rev 20193)
@@ -106,6 +106,9 @@
 <!-- Disk, CPU monitoring scripts. -->
   <include file="$(find pr2_alpha)/pr2_monitors.launch" />
 
+  <!-- Joint states diagnostics logging -->
+  <node pkg="mechanism_control" node="joints_to_diagnostics.py" machine="realtime" />
+
   <!-- Plug to chessboard offsets -->
   <group ns="plug_detector">
     <param name="plug_position_x" value="0.01" />

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-07-30 21:31:50 UTC (rev 20192)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-07-30 21:34:01 UTC (rev 20193)
@@ -104,6 +104,9 @@
 <!-- Disk, CPU monitoring scripts. -->
   <include file="$(find pr2_alpha)/pr2_monitors.launch" />
 
+  <!-- Joint states diagnostics logging -->
+  <node pkg="mechanism_control" node="joints_to_diagnostics.py" machine="realtime" />
+
   <!-- Plug to chessboard offsets -->
 <!-- 
  <group ns="plug_detector">


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[Personalrobots-commit] SF.net SVN: personalrobots:[20280] pkg/trunk/stacks/pr2/pr2_alpha

[<stu...@us...>]

Revision: 20280
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=20280&view=rev
Author:   stuglaser
Date:     2009-07-31 18:17:23 +0000 (Fri, 31 Jul 2009)

Log Message:
-----------
Fixed #2109

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

Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-07-31 18:04:08 UTC (rev 20279)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-07-31 18:17:23 UTC (rev 20280)
@@ -80,7 +80,7 @@
   <node pkg="pr2_computer_monitor" type="cpu_monitor.py" machine="two" />
 
   <!-- Joint states diagnostics logging -->
-  <node pkg="mechanism_control" node="joints_to_diagnostics.py" machine="realtime" />
+  <node pkg="mechanism_control" type="joints_to_diagnostics.py" machine="realtime" />
 
 </launch>
 

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf.launch	2009-07-31 18:04:08 UTC (rev 20279)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf.launch	2009-07-31 18:17:23 UTC (rev 20280)
@@ -107,7 +107,7 @@
   <include file="$(find pr2_alpha)/pr2_monitors.launch" />
 
   <!-- Joint states diagnostics logging -->
-  <node pkg="mechanism_control" node="joints_to_diagnostics.py" machine="realtime" />
+  <node pkg="mechanism_control" type="joints_to_diagnostics.py" machine="realtime" />
 
   <!-- Plug to chessboard offsets -->
   <group ns="plug_detector">

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-07-31 18:04:08 UTC (rev 20279)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-07-31 18:17:23 UTC (rev 20280)
@@ -105,7 +105,7 @@
   <include file="$(find pr2_alpha)/pr2_monitors.launch" />
 
   <!-- Joint states diagnostics logging -->
-  <node pkg="mechanism_control" node="joints_to_diagnostics.py" machine="realtime" />
+  <node pkg="mechanism_control" type="joints_to_diagnostics.py" machine="realtime" />
 
   <!-- Plug to chessboard offsets -->
 <!-- 


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[Personalrobots-commit] SF.net SVN: personalrobots:[21218] pkg/trunk/stacks/pr2/pr2_alpha

[<wa...@us...>]

Revision: 21218
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21218&view=rev
Author:   wattsk
Date:     2009-08-09 04:04:15 +0000 (Sun, 09 Aug 2009)

Log Message:
-----------
Fixed up teleop_joystick launch files

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

Modified: pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch	2009-08-09 04:03:52 UTC (rev 21217)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch	2009-08-09 04:04:15 UTC (rev 21218)
@@ -1,5 +1,4 @@
 <launch>
-
  <rosparam file="$(find pr2_default_controllers)/pr2_base_controller.yaml" command="load" ns="pr2_base_controller" />
  <rosparam file="$(find pr2_default_controllers)/pr2_odometry.yaml" command="load" ns="pr2_odometry" />
  <node pkg="mechanism_control" type="spawner.py" args="pr2_base_controller pr2_odometry" output="screen"/>
@@ -13,34 +12,37 @@
  <!-- The robot pose EKF is launched with the base controller-->
  <include file="$(find robot_pose_ekf)/robot_pose_ekf.launch" />
 
- <group name="wg">
+ <group name="joystick_teleop">
+   <!-- Axes -->
    <param name="axis_vx" value="3" type="int"/>
    <param name="axis_vy" value="2" type="int"/>
    <param name="axis_vw" value="0" type="int"/>
    <param name="axis_pan" value="0" type="int"/>
    <param name="axis_tilt" value="3" type="int"/>
 
+   <!-- Base velocities -->
    <param name="max_vw" value="0.8" />
    <param name="max_vx" value="0.5" />
    <param name="max_vy" value="0.5" />
    <param name="max_vw_run" value="1.4" />
    <param name="max_vx_run" value="1.0" />
    <param name="max_vy_run" value="1.0" />
-   <param name="tilt_step" value="0.1" />
-   <param name="pan_step" value="0.1" />
 
+   <!-- Head -->
+   <param name="max_pan" value="2.7" />
+   <param name="max_tilt" value="1.4" />
+   <param name="min_tilt" value="-0.4" />
+   <param name="tilt_step" value="0.015" />
+   <param name="pan_step" value="0.02" />
 
+   <!-- Button maps for logitech -->
    <param name="run_button" value="5" type="int" />
    <param name="torso_dn_button" value="1" type="int" />
    <param name="torso_up_button" value="3" type="int" />
    <param name="head_button" value="6" type="int" />
+   <param name="deadman_button" value="4" type="int"/>
 
-   <param name="deadman_button" value="4" type="int"/>
    <node pkg="teleop_pr2" type="teleop_pr2" output="screen"/>
-
-
  </group>
-
-
 </launch>
 

Modified: pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch	2009-08-09 04:03:52 UTC (rev 21217)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch	2009-08-09 04:04:15 UTC (rev 21218)
@@ -1,47 +1,48 @@
 <launch>
-
  <rosparam file="$(find pr2_default_controllers)/pr2_base_controller.yaml" command="load" ns="pr2_base_controller" />
  <rosparam file="$(find pr2_default_controllers)/pr2_odometry.yaml" command="load" ns="pr2_odometry" />
-<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/pr2_base_controller.xml" output="screen"/>
-<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/pr2_base_odometry.xml" output="screen"/>
+ <node pkg="mechanism_control" type="spawner.py" args="pr2_base_controller pr2_odometry" output="screen"/>
 
-<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/torso_lift_vel_controller.xml" output="screen" />
+ <rosparam file="$(find pr2_default_controllers)/pr2_joint_velocity_controllers.yaml" command="load" />
+ <node pkg="mechanism_control" type="spawner.py" args="torso_lift_velocity_controller" output="screen" />
 
-<include file="$(find pr2_default_controllers)/head_position_controller.launch" />
-
-
-<!-- The robot pose EKF is launched with the base controller-->
-<include file="$(find robot_pose_ekf)/robot_pose_ekf.launch" />
-
-  <group name="ps3_teleop">
-<param name="axis_vx" value="3" type="int"/>
-<param name="axis_vy" value="2" type="int"/>
-<param name="axis_vw" value="0" type="int"/>
-<param name="axis_pan" value="0" type="int"/>
-<param name="axis_tilt" value="3" type="int"/>
-
-<param name="max_vw" value="0.8" />
-<param name="max_vx" value="0.5" />
-<param name="max_vy" value="0.5" />
-<param name="max_vw_run" value="1.4" />
-<param name="max_vx_run" value="1.0" />
-<param name="max_vy_run" value="1.0" />
-<param name="max_pan" value="2.7" />
-<param name="max_tilt" value="1.4" />
-<param name="min_tilt" value="-0.4" />
-<param name="tilt_step" value="0.015" />
-<param name="pan_step" value="0.02" />
-
-<!-- Buttons have changed for PS3 controller mapping -->
-<param name="run_button" value="7" type="int" />
-<param name="torso_dn_button" value="1" type="int" />
-<param name="torso_up_button" value="2" type="int" />
-<param name="head_button" value="4" type="int" />
-<param name="deadman_button" value="6" type="int"/>
-
-<node pkg="teleop_pr2" type="teleop_pr2" output="screen"/>
-  </group>
-
-
+ <include file="$(find pr2_default_controllers)/head_position_controller.launch" />
+ 
+ 
+ <!-- The robot pose EKF is launched with the base controller-->
+ <include file="$(find robot_pose_ekf)/robot_pose_ekf.launch" />
+ 
+ <group name="ps3_teleop">
+   <!-- Axes -->
+   <param name="axis_vx" value="3" type="int"/>
+   <param name="axis_vy" value="2" type="int"/>
+   <param name="axis_vw" value="0" type="int"/>
+   <param name="axis_pan" value="0" type="int"/>
+   <param name="axis_tilt" value="3" type="int"/>
+   
+   <!-- Base velocities -->
+   <param name="max_vw" value="0.8" />
+   <param name="max_vx" value="0.5" />
+   <param name="max_vy" value="0.5" />
+   <param name="max_vw_run" value="1.4" />
+   <param name="max_vx_run" value="1.0" />
+   <param name="max_vy_run" value="1.0" />
+   
+   <!-- Head -->
+   <param name="max_pan" value="2.7" />
+   <param name="max_tilt" value="1.4" />
+   <param name="min_tilt" value="-0.4" />
+   <param name="tilt_step" value="0.015" />
+   <param name="pan_step" value="0.02" />
+   
+   <!-- Buttons have changed for PS3 controller mapping -->
+   <param name="run_button" value="7" type="int" />
+   <param name="torso_dn_button" value="1" type="int" />
+   <param name="torso_up_button" value="2" type="int" />
+   <param name="head_button" value="4" type="int" />
+   <param name="deadman_button" value="6" type="int"/>
+   
+   <node pkg="teleop_pr2" type="teleop_pr2" output="screen"/>
+ </group>
 </launch>
 


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[Personalrobots-commit] SF.net SVN: personalrobots:[21309] pkg/trunk/stacks/pr2/pr2_alpha

[<wa...@us...>]

Revision: 21309
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21309&view=rev
Author:   wattsk
Date:     2009-08-10 04:58:11 +0000 (Mon, 10 Aug 2009)

Log Message:
-----------
Combining teleop launch file #2297

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

Added Paths:
-----------
    pkg/trunk/stacks/pr2/pr2_alpha/teleop_controllers.launch

Added: pkg/trunk/stacks/pr2/pr2_alpha/teleop_controllers.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_controllers.launch	                        (rev 0)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_controllers.launch	2009-08-10 04:58:11 UTC (rev 21309)
@@ -0,0 +1,17 @@
+<launch>
+  <!-- Watts: Contains all controllers necessary to teleop_pr2, avoids code
+       reuse in teleop_joystick, teleop_ps3 -->
+  
+  <rosparam file="$(find pr2_default_controllers)/pr2_base_controller.yaml" command="load" ns="pr2_base_controller" />
+  <rosparam file="$(find pr2_default_controllers)/pr2_odometry.yaml" command="load" ns="pr2_odometry" />
+  <node pkg="mechanism_control" type="spawner.py" args="pr2_base_controller pr2_odometry" output="screen"/>
+  
+  <rosparam file="$(find pr2_default_controllers)/pr2_joint_velocity_controllers.yaml" command="load" />
+  <node pkg="mechanism_control" type="spawner.py" args="torso_lift_velocity_controller" output="screen" />
+  
+  <include file="$(find pr2_default_controllers)/head_position_controller.launch" />
+  
+  
+  <!-- The robot pose EKF is launched with the base controller-->
+  <include file="$(find robot_pose_ekf)/robot_pose_ekf.launch" />
+</launch>

Modified: pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch	2009-08-10 04:43:37 UTC (rev 21308)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch	2009-08-10 04:58:11 UTC (rev 21309)
@@ -1,48 +1,37 @@
 <launch>
- <rosparam file="$(find pr2_default_controllers)/pr2_base_controller.yaml" command="load" ns="pr2_base_controller" />
- <rosparam file="$(find pr2_default_controllers)/pr2_odometry.yaml" command="load" ns="pr2_odometry" />
- <node pkg="mechanism_control" type="spawner.py" args="pr2_base_controller pr2_odometry" output="screen"/>
-
- <rosparam file="$(find pr2_default_controllers)/pr2_joint_velocity_controllers.yaml" command="load" />
- <node pkg="mechanism_control" type="spawner.py" args="torso_lift_velocity_controller" output="screen" />
-
- <include file="$(find pr2_default_controllers)/head_position_controller.launch" />
-
-
- <!-- The robot pose EKF is launched with the base controller-->
- <include file="$(find robot_pose_ekf)/robot_pose_ekf.launch" />
-
- <group name="joystick_teleop">
-   <!-- Axes -->
-   <param name="axis_vx" value="3" type="int"/>
-   <param name="axis_vy" value="2" type="int"/>
-   <param name="axis_vw" value="0" type="int"/>
-   <param name="axis_pan" value="0" type="int"/>
-   <param name="axis_tilt" value="3" type="int"/>
-
-   <!-- Base velocities -->
-   <param name="max_vw" value="0.8" />
-   <param name="max_vx" value="0.5" />
-   <param name="max_vy" value="0.5" />
-   <param name="max_vw_run" value="1.4" />
-   <param name="max_vx_run" value="1.0" />
-   <param name="max_vy_run" value="1.0" />
-
-   <!-- Head -->
-   <param name="max_pan" value="2.7" />
-   <param name="max_tilt" value="1.4" />
-   <param name="min_tilt" value="-0.4" />
-   <param name="tilt_step" value="0.015" />
-   <param name="pan_step" value="0.02" />
-
-   <!-- Button maps for logitech -->
-   <param name="run_button" value="5" type="int" />
-   <param name="torso_dn_button" value="1" type="int" />
-   <param name="torso_up_button" value="3" type="int" />
-   <param name="head_button" value="6" type="int" />
-   <param name="deadman_button" value="4" type="int"/>
-
-   <node pkg="teleop_pr2" type="teleop_pr2" output="screen"/>
- </group>
+  <include file="$(find pr2_alpha)/teleop_controllers.launch" />
+  
+  <group name="joystick_teleop">
+    <!-- Axes -->
+    <param name="axis_vx" value="3" type="int"/>
+    <param name="axis_vy" value="2" type="int"/>
+    <param name="axis_vw" value="0" type="int"/>
+    <param name="axis_pan" value="0" type="int"/>
+    <param name="axis_tilt" value="3" type="int"/>
+    
+    <!-- Base velocities -->
+    <param name="max_vw" value="0.8" />
+    <param name="max_vx" value="0.5" />
+    <param name="max_vy" value="0.5" />
+    <param name="max_vw_run" value="1.4" />
+    <param name="max_vx_run" value="1.0" />
+    <param name="max_vy_run" value="1.0" />
+    
+    <!-- Head -->
+    <param name="max_pan" value="2.7" />
+    <param name="max_tilt" value="1.4" />
+    <param name="min_tilt" value="-0.4" />
+    <param name="tilt_step" value="0.015" />
+    <param name="pan_step" value="0.02" />
+    
+    <!-- Button maps for logitech -->
+    <param name="run_button" value="5" type="int" />
+    <param name="torso_dn_button" value="1" type="int" />
+    <param name="torso_up_button" value="3" type="int" />
+    <param name="head_button" value="6" type="int" />
+    <param name="deadman_button" value="4" type="int"/>
+    
+    <node pkg="teleop_pr2" type="teleop_pr2" output="screen"/>
+  </group>
 </launch>
 

Modified: pkg/trunk/stacks/pr2/pr2_alpha/teleop_keyboard.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_keyboard.launch	2009-08-10 04:43:37 UTC (rev 21308)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_keyboard.launch	2009-08-10 04:58:11 UTC (rev 21309)
@@ -1,26 +1,15 @@
 <launch>
+  <!-- This controller file has the torso and head, which is unnecessary
+       but not harmful -->
+  <include file="$(find pr2_alpha)/teleop_controllers.launch" />
 
-  <rosparam file="$(find pr2_default_controllers)/pr2_base_controller.yaml" command="load" ns="pr2_base_controller" />
-  <rosparam file="$(find pr2_default_controllers)/pr2_odometry.yaml" command="load" ns="pr2_odometry" />
-  <node pkg="mechanism_control" type="spawner.py" args="pr2_base_controller pr2_odometry" output="screen"/>
-
-  <!-- The robot pose EKF is launched with the base controller-->
-  <group ns="robot_pose_ekf">
-    <param name="freq" value="30.0"/>
-    <param name="sensor_timeout" value="1.0"/>
-    <param name="odom_used" value="true"/>
-    <param name="imu_used" value="true"/>
-    <param name="vo_used" value="false"/>
+  <group name="keyboard_teleop" >
+    <param name="walk_vel" value="0.5" />
+    <param name="run_vel" value="1.0" />
+    <param name="yaw_rate" value="1.0" />
+    <param name="yaw_run_rate" value="1.5" />
+        
+    <node pkg="teleop_pr2" type="teleop_pr2_keyboard" output="screen"/>
   </group>
-  <node pkg="robot_pose_ekf" type="robot_pose_ekf" args="robot_pose_ekf"/>
-
-  <param name="walk_vel" value="0.5" />
-  <param name="run_vel" value="1.0" />
-  <param name="yaw_rate" value="1.0" />
-  <param name="yaw_run_rate" value="1.5" />
-
-
-  <node pkg="teleop_pr2" type="teleop_pr2_keyboard" output="screen"/>
-
 </launch>
 

Modified: pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch	2009-08-10 04:43:37 UTC (rev 21308)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch	2009-08-10 04:58:11 UTC (rev 21309)
@@ -1,48 +1,37 @@
 <launch>
- <rosparam file="$(find pr2_default_controllers)/pr2_base_controller.yaml" command="load" ns="pr2_base_controller" />
- <rosparam file="$(find pr2_default_controllers)/pr2_odometry.yaml" command="load" ns="pr2_odometry" />
- <node pkg="mechanism_control" type="spawner.py" args="pr2_base_controller pr2_odometry" output="screen"/>
-
- <rosparam file="$(find pr2_default_controllers)/pr2_joint_velocity_controllers.yaml" command="load" />
- <node pkg="mechanism_control" type="spawner.py" args="torso_lift_velocity_controller" output="screen" />
-
- <include file="$(find pr2_default_controllers)/head_position_controller.launch" />
- 
- 
- <!-- The robot pose EKF is launched with the base controller-->
- <include file="$(find robot_pose_ekf)/robot_pose_ekf.launch" />
- 
- <group name="ps3_teleop">
-   <!-- Axes -->
-   <param name="axis_vx" value="3" type="int"/>
-   <param name="axis_vy" value="2" type="int"/>
-   <param name="axis_vw" value="0" type="int"/>
-   <param name="axis_pan" value="0" type="int"/>
-   <param name="axis_tilt" value="3" type="int"/>
-   
-   <!-- Base velocities -->
-   <param name="max_vw" value="0.8" />
-   <param name="max_vx" value="0.5" />
-   <param name="max_vy" value="0.5" />
-   <param name="max_vw_run" value="1.4" />
-   <param name="max_vx_run" value="1.0" />
-   <param name="max_vy_run" value="1.0" />
-   
-   <!-- Head -->
-   <param name="max_pan" value="2.7" />
-   <param name="max_tilt" value="1.4" />
-   <param name="min_tilt" value="-0.4" />
-   <param name="tilt_step" value="0.015" />
-   <param name="pan_step" value="0.02" />
-   
-   <!-- Buttons have changed for PS3 controller mapping -->
-   <param name="run_button" value="7" type="int" />
-   <param name="torso_dn_button" value="1" type="int" />
-   <param name="torso_up_button" value="2" type="int" />
-   <param name="head_button" value="4" type="int" />
-   <param name="deadman_button" value="6" type="int"/>
-   
-   <node pkg="teleop_pr2" type="teleop_pr2" output="screen"/>
- </group>
+  <include file="$(find pr2_alpha)/teleop_controllers.launch" />
+  
+  <group name="ps3_teleop">
+    <!-- Axes -->
+    <param name="axis_vx" value="3" type="int"/>
+    <param name="axis_vy" value="2" type="int"/>
+    <param name="axis_vw" value="0" type="int"/>
+    <param name="axis_pan" value="0" type="int"/>
+    <param name="axis_tilt" value="3" type="int"/>
+    
+    <!-- Base velocities -->
+    <param name="max_vw" value="0.8" />
+    <param name="max_vx" value="0.5" />
+    <param name="max_vy" value="0.5" />
+    <param name="max_vw_run" value="1.4" />
+    <param name="max_vx_run" value="1.0" />
+    <param name="max_vy_run" value="1.0" />
+    
+    <!-- Head -->
+    <param name="max_pan" value="2.7" />
+    <param name="max_tilt" value="1.4" />
+    <param name="min_tilt" value="-0.4" />
+    <param name="tilt_step" value="0.015" />
+    <param name="pan_step" value="0.02" />
+    
+    <!-- Buttons have changed for PS3 controller mapping -->
+    <param name="run_button" value="7" type="int" />
+    <param name="torso_dn_button" value="1" type="int" />
+    <param name="torso_up_button" value="2" type="int" />
+    <param name="head_button" value="4" type="int" />
+    <param name="deadman_button" value="6" type="int"/>
+    
+    <node pkg="teleop_pr2" type="teleop_pr2" output="screen"/>
+  </group>
 </launch>
 


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[Personalrobots-commit] SF.net SVN: personalrobots:[21452] pkg/trunk/stacks/pr2/pr2_alpha

[<wa...@us...>]

Revision: 21452
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21452&view=rev
Author:   wattsk
Date:     2009-08-10 19:57:36 +0000 (Mon, 10 Aug 2009)

Log Message:
-----------
Removing old joystick launch file

Modified Paths:
--------------
    pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml
    pkg/trunk/stacks/pr2/pr2_alpha/pre.launch

Removed Paths:
-------------
    pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick_new.launch

Modified: pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml	2009-08-10 19:48:32 UTC (rev 21451)
+++ pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml	2009-08-10 19:57:36 UTC (rev 21452)
@@ -19,6 +19,7 @@
   <depend package="pr2_computer_monitor" />
   <depend package="ocean_battery_driver"/>
   <depend package="joy"/>
+  <depend package="ps3joy"/>
   <depend package="hokuyo_node"/>
   <depend package="imu_node"/>
   <depend package="dcam"/>

Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-08-10 19:48:32 UTC (rev 21451)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-08-10 19:57:36 UTC (rev 21452)
@@ -6,7 +6,7 @@
 
 <!-- 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
-  <node machine="realtime" pkg="joy" type="ps3_joy" name="joy" respawn="true" >
+  <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" />
   </node>

Deleted: pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick_new.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick_new.launch	2009-08-10 19:48:32 UTC (rev 21451)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick_new.launch	2009-08-10 19:57:36 UTC (rev 21452)
@@ -1,46 +0,0 @@
-<launch>
-
-  <rosparam file="$(find pr2_default_controllers)/pr2_base_controller.yaml" command="load" ns="pr2_base_controller" />
-  <rosparam file="$(find pr2_default_controllers)/pr2_odometry.yaml" command="load" ns="pr2_odometry" />
-
-  <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/pr2_base_controller.xml" output="screen"/>
-  <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/pr2_base_odometry.xml" output="screen"/>
-  <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/torso_lift_vel_controller.xml" output="screen" />
-
-  <include file="$(find pr2_default_controllers)/head_position_controller.launch" />
-
-
-  <!-- The robot pose EKF is launched with the base controller-->
-  <include file="$(find robot_pose_ekf)/robot_pose_ekf.launch" />
-
-  <group name="wg">
-    <param name="axis_vx" value="3" type="int"/>
-    <param name="axis_vy" value="2" type="int"/>
-    <param name="axis_vw" value="0" type="int"/>
-    <param name="axis_pan" value="0" type="int"/>
-    <param name="axis_tilt" value="3" type="int"/>
-
-    <param name="max_vw" value="0.8" />
-    <param name="max_vx" value="0.5" />
-    <param name="max_vy" value="0.5" />
-    <param name="max_vw_run" value="1.4" />
-    <param name="max_vx_run" value="1.0" />
-    <param name="max_vy_run" value="1.0" />
-    <param name="tilt_step" value="0.1" />
-    <param name="pan_step" value="0.1" />
-
-
-    <param name="run_button" value="5" type="int" />
-    <param name="torso_dn_button" value="1" type="int" />
-    <param name="torso_up_button" value="3" type="int" />
-    <param name="head_button" value="6" type="int" />
-
-    <param name="deadman_button" value="4" type="int"/>
-    <node pkg="teleop_pr2" type="teleop_pr2" output="screen"/>
-
-
-  </group>
-
-
-</launch>
-


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[Personalrobots-commit] SF.net SVN: personalrobots:[21730] pkg/trunk/stacks/pr2/pr2_alpha

[<bla...@us...>]

Revision: 21730
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21730&view=rev
Author:   blaisegassend
Date:     2009-08-12 23:17:43 +0000 (Wed, 12 Aug 2009)

Log Message:
-----------
Updated location of forearm_cam launch files.

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

Added Paths:
-----------
    pkg/trunk/stacks/pr2/pr2_alpha/prf_forearm_cam.launch
    pkg/trunk/stacks/pr2/pr2_alpha/prf_forearm_cam_config.launch
    pkg/trunk/stacks/pr2/pr2_alpha/prg_forearm_cam.launch

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf.launch	2009-08-12 23:13:28 UTC (rev 21729)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf.launch	2009-08-12 23:17:43 UTC (rev 21730)
@@ -85,7 +85,7 @@
   </group>
 
 <!-- Forearm Camera -->
-  <include file="$(find forearm_cam)/prf_forearm_cam_config.launch"/>
+  <include file="$(find pr2_alpha)/prf_forearm_cam_config.launch"/>
   <node machine="three" name="forearm_cam_r" pkg="forearm_cam" type="forearm_node" respawn="false" output="screen"/>
 
 <!-- Sound  -->

Copied: pkg/trunk/stacks/pr2/pr2_alpha/prf_forearm_cam.launch (from rev 21416, pkg/trunk/stacks/camera_drivers/forearm_cam/prf_forearm_cam.launch)
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf_forearm_cam.launch	                        (rev 0)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf_forearm_cam.launch	2009-08-12 23:17:43 UTC (rev 21730)
@@ -0,0 +1,7 @@
+<launch>
+  <include file="$(find forearm_cam)/prf_forearm_cam_config.launch"/>
+  <node name="forearm_cam_r" pkg="forearm_cam" type="forearm_node" respawn="false" output="screen"/>
+  <node name="forearm_proc_r" pkg="stereo_image_proc" type="imageproc" respawn="false" output="screen">
+    <remap from="camera" to="forearm_cam_r"/>
+  </node>
+</launch>


Property changes on: pkg/trunk/stacks/pr2/pr2_alpha/prf_forearm_cam.launch
___________________________________________________________________
Added: svn:mergeinfo
   + /pkg/branches/gazebo-branch-merge/drivers/cam/forearm_cam/prf_forearm_cam.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334

Copied: pkg/trunk/stacks/pr2/pr2_alpha/prf_forearm_cam_config.launch (from rev 21416, pkg/trunk/stacks/camera_drivers/forearm_cam/prf_forearm_cam_config.launch)
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf_forearm_cam_config.launch	                        (rev 0)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf_forearm_cam_config.launch	2009-08-12 23:17:43 UTC (rev 21730)
@@ -0,0 +1,9 @@
+<launch>
+  <group ns="forearm_cam_r">
+    <param name="camera_url" type="str" value="serial://3@10.68.0.68"/>
+    <param name="video_mode" type="str" value="640x480x30"/>
+    <param name="frame_id" type="str" value="r_forearm_cam_optical_frame"/>
+    <param name="do_colorize" type="bool" value="True"/>
+    <param name="do_rectify" type="bool" value="True"/>
+  </group>
+</launch>


Property changes on: pkg/trunk/stacks/pr2/pr2_alpha/prf_forearm_cam_config.launch
___________________________________________________________________
Added: svn:mergeinfo
   + /pkg/branches/gazebo-branch-merge/drivers/cam/forearm_cam/prf_forearm_cam_config.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334

Copied: pkg/trunk/stacks/pr2/pr2_alpha/prg_forearm_cam.launch (from rev 21416, pkg/trunk/stacks/camera_drivers/forearm_cam/prg_forearm_cam.launch)
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg_forearm_cam.launch	                        (rev 0)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg_forearm_cam.launch	2009-08-12 23:17:43 UTC (rev 21730)
@@ -0,0 +1,15 @@
+<launch>
+  <group ns="forearm">
+    <param name="if_name" type="str" value="eth0"/>
+    <param name="ip_address" type="str" value="10.68.7.68"/>
+    <param name="serial_number" type="int" value="4"/>
+    <param name="video_mode" type="str" value="640x480x30"/>
+    <param name="frame_id" type="str" value="r_forearm_cam_optical_frame"/>
+    <param name="do_colorize" type="bool" value="True"/>
+    <param name="do_rectify" type="bool" value="True"/>
+  </group>
+  <node name="forearm" pkg="forearm_cam" type="forearm_node" respawn="false" output="screen"/>
+  <node name="forearm_proc" pkg="stereo_image_proc" type="imageproc" respawn="false" output="screen">
+    <remap from="camera" to="forearm"/>
+  </node>
+</launch>


Property changes on: pkg/trunk/stacks/pr2/pr2_alpha/prg_forearm_cam.launch
___________________________________________________________________
Added: svn:mergeinfo
   + /pkg/branches/gazebo-branch-merge/drivers/cam/forearm_cam/prg_forearm_cam.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334


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[Personalrobots-commit] SF.net SVN: personalrobots:[21834] pkg/trunk/stacks/pr2/pr2_alpha

[<stu...@us...>]

Revision: 21834
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21834&view=rev
Author:   stuglaser
Date:     2009-08-13 21:17:47 +0000 (Thu, 13 Aug 2009)

Log Message:
-----------
Hacked prX.launch files to add rospack to the path for realtime-root.  This allows plugin loading
to work until ROS ticket #1586 is fixed.

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

Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre.machine
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre.machine	2009-08-13 21:17:19 UTC (rev 21833)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre.machine	2009-08-13 21:17:47 UTC (rev 21834)
@@ -1,5 +1,7 @@
 <launch>
-  <machine name="realtime_root" user="root" address="pre1" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never"/>
+  <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="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/prf.machine
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf.machine	2009-08-13 21:17:19 UTC (rev 21833)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf.machine	2009-08-13 21:17:47 UTC (rev 21834)
@@ -1,12 +1,14 @@
 <launch>
   <!-- Need realtime root machine for pr2_etherCAT -->
-  <machine name="realtime_root" user="root" address="prf1" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never" />
+  <machine name="realtime_root" user="root" address="prf1" 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="prf1" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" />
   <machine name="two" address="prf2" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)"  default="true" />
   <machine name="three" address="prf3" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" />
   <machine name="four"  address="prf4" 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="prf4" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" />
 </launch>

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg.machine
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg.machine	2009-08-13 21:17:19 UTC (rev 21833)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg.machine	2009-08-13 21:17:47 UTC (rev 21834)
@@ -1,5 +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" />
+  <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" 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"/>


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[Personalrobots-commit] SF.net SVN: personalrobots:[22076] pkg/trunk/stacks/pr2/pr2_alpha

[<wa...@us...>]

Revision: 22076
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=22076&view=rev
Author:   wattsk
Date:     2009-08-18 00:41:50 +0000 (Tue, 18 Aug 2009)

Log Message:
-----------
Added diagnostic_aggregator node to PR2's

Modified Paths:
--------------
    pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml
    pkg/trunk/stacks/pr2/pr2_alpha/pre.launch
    pkg/trunk/stacks/pr2/pr2_alpha/prf.launch
    pkg/trunk/stacks/pr2/pr2_alpha/prg.launch

Added 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/manifest.xml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml	2009-08-18 00:41:15 UTC (rev 22075)
+++ pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml	2009-08-18 00:41:50 UTC (rev 22076)
@@ -31,9 +31,11 @@
   <depend package="prosilica_cam" />
   <depend package="teleop_pr2" />
   <depend package="mechanism_bringup" />
-
   <depend package="robot_mechanism_controllers" />
   <depend package="pr2_mechanism_controllers" />
+  <depend package="generic_analyzer" />
+  <depend package="diagnostic_aggregator" />
+  
   <!-- For testing -->
   <depend package="std_msgs"/>
 </package>

Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-08-18 00:41:15 UTC (rev 22075)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-08-18 00:41:50 UTC (rev 22076)
@@ -24,9 +24,6 @@
 <!-- Battery Monitor -->
   <node machine="two" pkg="ocean_battery_driver" type="monitor" respawn="true"/>
 
-<!-- Battery Assertions -->
-<include file="$(find ocean_battery_driver)/expected_batteries.launch"/>
-
 <!-- 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" />
@@ -53,9 +50,6 @@
   <param name="imu/autocalibrate" type="bool" value="true" />
   <node machine="realtime" pkg="imu_node" type="imu_node" output="screen"/>
 
-<!-- Videre Stereo cam 
-  <include file="$(find pr2_alpha)/stereo.launch" />
--->
 <!-- Sound  
   <node pkg="sound_play" type="soundplay_node.py" machine="three" />
 -->
@@ -63,10 +57,9 @@
 <!-- Runtime Diagnostics Logging -->
   <node pkg="rosrecord" type="rosrecord" args="-f /hwlog/pre_runtime_automatic /diagnostics" />
 
-<!-- NTP monitoring script Warns to console if sync error 
+<!-- NTP monitoring script Warns to console if sync error -->
   <node pkg="pr2_computer_monitor" type="ntp_monitor.py" args="pre2" machine="realtime"/>
   <node pkg="pr2_computer_monitor" type="ntp_monitor.py" args="fw1 7000" machine="two"/> 
--->
 
   <!-- Disk usage monitoring script Warns to console if disk full -->
   <node pkg="pr2_computer_monitor" type="hd_monitor.py" args="$(optenv HOME /home)" machine="realtime"/>
@@ -79,5 +72,13 @@
   <!-- Joint states diagnostics logging -->
   <node pkg="mechanism_control" type="joints_to_diagnostics.py" machine="realtime" />
 
+  <!-- Diagnostics aggregation -->
+  <node pkg="diagnostic_aggregator" type="aggregator_node"
+        name="diag_agg_pre" args="PRE" output="screen" >
+    <rosparam command="load" 
+              file="$(find pr2_alpha)/pre_analyzers.yaml" />
+  </node>
+
+
 </launch>
 

Added: pkg/trunk/stacks/pr2/pr2_alpha/pre_analyzers.yaml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre_analyzers.yaml	                        (rev 0)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre_analyzers.yaml	2009-08-18 00:41:50 UTC (rev 22076)
@@ -0,0 +1,125 @@
+sensors:
+  type: GenericAnalyzer
+  prefix: Sensors
+  contains: [
+    'hokuyo',
+    'prosilica',
+    'imu' ]
+computers:
+  type: GenericAnalyzer
+  prefix: Computers
+  contains: [
+    'HD Temp',
+    'CPU Usage',
+    'CPU Temperature',
+    'HD Usage',
+    'NFS']
+motors:
+  type: GenericAnalyzer
+  prefix: Motors
+  startswith: [
+    'EtherCAT Device']
+  expected: [
+    'EtherCAT Master',
+    'EtherCAT Device (bl_caster_l_wheel_motor_alpha2)',
+    'EtherCAT Device (bl_caster_r_wheel_motor_alpha2)',
+    'EtherCAT Device (bl_caster_rotation_motor_alpha2)',
+    'EtherCAT Device (br_caster_l_wheel_motor_alpha2)',
+    'EtherCAT Device (br_caster_r_wheel_motor_alpha2)',
+    'EtherCAT Device (br_caster_rotation_motor_alpha2)',
+    'EtherCAT Device (fl_caster_l_wheel_motor_alpha2)',
+    'EtherCAT Device (fl_caster_r_wheel_motor_alpha2)',
+    'EtherCAT Device (fl_caster_rotation_motor_alpha2)',
+    'EtherCAT Device (fr_caster_l_wheel_motor_alpha2)',
+    'EtherCAT Device (fr_caster_r_wheel_motor_alpha2)',
+    'EtherCAT Device (fr_caster_rotation_motor_alpha2)',
+    'EtherCAT Device (head_pan_motor)',
+    'EtherCAT Device (head_tilt_motor)',
+    'EtherCAT Device (laser_tilt_mount_motor)',
+    'EtherCAT Device (torso_lift_motor)',
+    'EtherCAT Device (r_gripper_motor)',
+    'EtherCAT Device (r_wrist_l_motor)',
+    'EtherCAT Device (r_wrist_r_motor)',
+    'EtherCAT Device (r_forearm_roll_motor)',
+    'EtherCAT Device (r_elbow_flex_motor)',
+    'EtherCAT Device (r_upper_arm_roll_motor)',
+    'EtherCAT Device (r_shoulder_lift_motor)',
+    'EtherCAT Device (r_shoulder_pan_motor)',
+    'EtherCAT Device (l_gripper_motor)',
+    'EtherCAT Device (l_wrist_l_motor)',
+    'EtherCAT Device (l_wrist_r_motor)',
+    'EtherCAT Device (l_forearm_roll_motor)',
+    'EtherCAT Device (l_elbow_flex_motor)',
+    'EtherCAT Device (l_upper_arm_roll_motor)',
+    'EtherCAT Device (l_shoulder_lift_motor)',
+    'EtherCAT Device (l_shoulder_pan_motor)']
+joints:
+  type: GenericAnalyzer
+  prefix: Joints
+  startswith: [
+    'Joint']
+  expected: [
+    'Joint (bl_caster_l_wheel_joint)',
+    'Joint (bl_caster_r_wheel_joint)',
+    'Joint (bl_caster_rotation_joint)',
+    'Joint (br_caster_l_wheel_joint)',
+    'Joint (br_caster_r_wheel_joint)',
+    'Joint (br_caster_rotation_joint)',
+    'Joint (fl_caster_l_wheel_joint)',
+    'Joint (fl_caster_r_wheel_joint)',
+    'Joint (fl_caster_rotation_joint)',
+    'Joint (fr_caster_l_wheel_joint)',
+    'Joint (fr_caster_r_wheel_joint)',
+    'Joint (fr_caster_rotation_joint)',
+    'Joint (head_pan_joint)',
+    'Joint (head_tilt_joint)',
+    'Joint (laser_tilt_mount_joint)',
+    'Joint (torso_lift_joint)',
+    'Joint (r_gripper_joint)',
+    'Joint (r_wrist_flex_joint)',
+    'Joint (r_wrist_roll_joint)',
+    'Joint (r_forearm_roll_joint)',
+    'Joint (r_elbow_flex_joint)',
+    'Joint (r_upper_arm_roll_joint)',
+    'Joint (r_shoulder_lift_joint)',
+    'Joint (r_shoulder_pan_joint)',
+    'Joint (l_gripper_joint)',
+    'Joint (l_wrist_flex_joint)',
+    'Joint (l_wrist_roll_joint)',
+    'Joint (l_forearm_roll_joint)',
+    'Joint (l_elbow_flex_joint)',
+    'Joint (l_upper_arm_roll_joint)',
+    'Joint (l_shoulder_lift_joint)',
+    'Joint (l_shoulder_pan_joint)']
+power:
+  type: GenericAnalyzer
+  prefix: 'Power System'
+  startswith: [
+    'Power board']
+  name: [
+    'Expected Batteries']
+  expected: [
+    'IBPS 1',
+    'IBPS 2',
+    'IBPS 3',
+    'IBPS 0',
+    'Smart Battery 0.0',
+    'Smart Battery 0.1',
+    'Smart Battery 0.2',
+    'Smart Battery 0.3',
+    'Smart Battery 1.0',
+    'Smart Battery 1.1',
+    'Smart Battery 1.2',
+    'Smart Battery 1.3',
+    'Smart Battery 2.0',
+    'Smart Battery 2.1',
+    'Smart Battery 2.2',
+    'Smart Battery 2.3',
+    'Smart Battery 3.0',
+    'Smart Battery 3.1',
+    'Smart Battery 3.2',
+    'Smart Battery 3.3']
+other:
+  prefix: Other
+  type: GenericAnalyzer
+  other: true
\ No newline at end of file

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf.launch	2009-08-18 00:41:15 UTC (rev 22075)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf.launch	2009-08-18 00:41:50 UTC (rev 22076)
@@ -18,8 +18,6 @@
 
 <!-- Battery Monitor -->
   <node machine="two" pkg="ocean_battery_driver" type="monitor" respawn="true"/>
-<!-- Battery Assertions -->
-  <include file="$(find ocean_battery_driver)/expected_batteries.launch"/>
 
 <!-- Base Laser -->
   <node machine="two" pkg="hokuyo_node" type="hokuyo_node" name="base_hokuyo_node" args="scan:=base_scan">
@@ -120,5 +118,12 @@
     <param name="plug_orientation_w" value="0.01906" />
   </group>
 
+  <!-- Diagnostics aggregation -->
+  <node pkg="diagnostic_aggregator" type="aggregator_node"
+        name="diag_agg_prf" args="PRF" output="screen" >
+    <rosparam command="load" 
+              file="$(find pr2_alpha)/prf_prg_analyzers.yaml" />
+  </node>
+  
 </launch>
 

Added: pkg/trunk/stacks/pr2/pr2_alpha/prf_prg_analyzers.yaml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf_prg_analyzers.yaml	                        (rev 0)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf_prg_analyzers.yaml	2009-08-18 00:41:50 UTC (rev 22076)
@@ -0,0 +1,109 @@
+sensors:
+  type: GenericAnalyzer
+  prefix: Sensors
+  contains: [
+    'hokuyo',
+    'prosilica',
+    'imu' ]
+computers:
+  type: GenericAnalyzer
+  prefix: Computers
+  contains: [
+    'HD Temp',
+    'CPU Usage',
+    'CPU Temperature',
+    'HD Usage',
+    'NFS']
+motors:
+  type: GenericAnalyzer
+  prefix: Motors
+  startswith: [
+    'EtherCAT Device']
+  expected: [
+    'EtherCAT Master',
+    'EtherCAT Device (bl_caster_l_wheel_motor)',
+    'EtherCAT Device (bl_caster_r_wheel_motor)',
+    'EtherCAT Device (bl_caster_rotation_motor)',
+    'EtherCAT Device (br_caster_l_wheel_motor)',
+    'EtherCAT Device (br_caster_r_wheel_motor)',
+    'EtherCAT Device (br_caster_rotation_motor)',
+    'EtherCAT Device (fl_caster_l_wheel_motor)',
+    'EtherCAT Device (fl_caster_r_wheel_motor)',
+    'EtherCAT Device (fl_caster_rotation_motor)',
+    'EtherCAT Device (fr_caster_l_wheel_motor)',
+    'EtherCAT Device (fr_caster_r_wheel_motor)',
+    'EtherCAT Device (fr_caster_rotation_motor)',
+    'EtherCAT Device (head_pan_motor)',
+    'EtherCAT Device (head_tilt_motor)',
+    'EtherCAT Device (laser_tilt_mount_motor)',
+    'EtherCAT Device (torso_lift_motor)',
+    'EtherCAT Device (r_gripper_motor)',
+    'EtherCAT Device (r_wrist_l_motor)',
+    'EtherCAT Device (r_wrist_r_motor)',
+    'EtherCAT Device (r_forearm_roll_motor)',
+    'EtherCAT Device (r_elbow_flex_motor)',
+    'EtherCAT Device (r_upper_arm_roll_motor)',
+    'EtherCAT Device (r_shoulder_lift_motor)',
+    'EtherCAT Device (r_shoulder_pan_motor)']
+joints:
+  type: GenericAnalyzer
+  prefix: Joints
+  startswith: [
+    'Joint']
+  expected: [
+    'Joint (bl_caster_l_wheel_joint)',
+    'Joint (bl_caster_r_wheel_joint)',
+    'Joint (bl_caster_rotation_joint)',
+    'Joint (br_caster_l_wheel_joint)',
+    'Joint (br_caster_r_wheel_joint)',
+    'Joint (br_caster_rotation_joint)',
+    'Joint (fl_caster_l_wheel_joint)',
+    'Joint (fl_caster_r_wheel_joint)',
+    'Joint (fl_caster_rotation_joint)',
+    'Joint (fr_caster_l_wheel_joint)',
+    'Joint (fr_caster_r_wheel_joint)',
+    'Joint (fr_caster_rotation_joint)',
+    'Joint (head_pan_joint)',
+    'Joint (head_tilt_joint)',
+    'Joint (laser_tilt_mount_joint)',
+    'Joint (torso_lift_joint)',
+    'Joint (r_gripper_joint)',
+    'Joint (r_wrist_flex_joint)',
+    'Joint (r_wrist_roll_joint)',
+    'Joint (r_forearm_roll_joint)',
+    'Joint (r_elbow_flex_joint)',
+    'Joint (r_upper_arm_roll_joint)',
+    'Joint (r_shoulder_lift_joint)',
+    'Joint (r_shoulder_pan_joint)']
+power:
+  type: GenericAnalyzer
+  prefix: 'Power System'
+  startswith: [
+    'Power board']
+  name: [
+    'Expected Batteries']
+  expected: [
+    'IBPS 1',
+    'IBPS 2',
+    'IBPS 3',
+    'IBPS 0',
+    'Smart Battery 0.0',
+    'Smart Battery 0.1',
+    'Smart Battery 0.2',
+    'Smart Battery 0.3',
+    'Smart Battery 1.0',
+    'Smart Battery 1.1',
+    'Smart Battery 1.2',
+    'Smart Battery 1.3',
+    'Smart Battery 2.0',
+    'Smart Battery 2.1',
+    'Smart Battery 2.2',
+    'Smart Battery 2.3',
+    'Smart Battery 3.0',
+    'Smart Battery 3.1',
+    'Smart Battery 3.2',
+    'Smart Battery 3.3']
+other:
+  prefix: Other
+  type: GenericAnalyzer
+  other: true
\ No newline at end of file

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-08-18 00:41:15 UTC (rev 22075)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-08-18 00:41:50 UTC (rev 22076)
@@ -18,8 +18,6 @@
 
 <!-- Battery Monitor -->
   <node machine="two" pkg="ocean_battery_driver" type="monitor" respawn="false"/>
-<!-- Battery Assertions -->
-<include file="$(find ocean_battery_driver)/expected_batteries.launch"/>
 
 <!-- Base Laser -->
   <node machine="two" pkg="hokuyo_node" type="hokuyo_node" name="base_hokuyo_node" args="scan:=base_scan">
@@ -118,7 +116,14 @@
     <param name="plug_orientation_z" value="0.00588" />
     <param name="plug_orientation_w" value="0.01906" />
   </group>
--->
+ -->
 
+  <!-- Diagnostics aggregation -->
+  <node pkg="diagnostic_aggregator" type="aggregator_node"
+        name="diag_agg_prg" args="PRG" output="screen" >
+    <rosparam command="load" 
+              file="$(find pr2_alpha)/prf_prg_analyzers.yaml" />
+  </node>
+
 </launch>
 


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[Personalrobots-commit] SF.net SVN: personalrobots:[22141] pkg/trunk/stacks/pr2/pr2_alpha

[<wa...@us...>]

Revision: 22141
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=22141&view=rev
Author:   wattsk
Date:     2009-08-18 17:06:19 +0000 (Tue, 18 Aug 2009)

Log Message:
-----------
Added stereodcam, NTP to analyzers

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	2009-08-18 17:03:35 UTC (rev 22140)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre_analyzers.yaml	2009-08-18 17:06:19 UTC (rev 22141)
@@ -4,6 +4,7 @@
   contains: [
     'hokuyo',
     'prosilica',
+    'stereodcam',
     'imu' ]
 computers:
   type: GenericAnalyzer
@@ -13,6 +14,7 @@
     'CPU Usage',
     'CPU Temperature',
     'HD Usage',
+    'NTP',
     'NFS']
 motors:
   type: GenericAnalyzer

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf_prg_analyzers.yaml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf_prg_analyzers.yaml	2009-08-18 17:03:35 UTC (rev 22140)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf_prg_analyzers.yaml	2009-08-18 17:06:19 UTC (rev 22141)
@@ -4,6 +4,7 @@
   contains: [
     'hokuyo',
     'prosilica',
+    'stereodcam',
     'imu' ]
 computers:
   type: GenericAnalyzer
@@ -13,6 +14,7 @@
     'CPU Usage',
     'CPU Temperature',
     'HD Usage',
+    'NTP',
     'NFS']
 motors:
   type: GenericAnalyzer


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[Personalrobots-commit] SF.net SVN: personalrobots:[22254] pkg/trunk/stacks/pr2/pr2_alpha

[<jfa...@us...>]

Revision: 22254
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=22254&view=rev
Author:   jfaustwg
Date:     2009-08-19 05:21:11 +0000 (Wed, 19 Aug 2009)

Log Message:
-----------
Add power_board_serial parameter to prf and prg launch files

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

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf.launch	2009-08-19 05:19:34 UTC (rev 22253)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf.launch	2009-08-19 05:21:11 UTC (rev 22254)
@@ -8,6 +8,7 @@
   <node machine="four" pkg="joy" type="joy"  respawn="true"/>
 
 <!-- Power Board Control Node -->
+ <param name="power_board_serial" value="1000"/>
  <node pkg="pr2_power_board" type="power_node"  respawn="true"/>
 
 <!-- Robot state publisher -->

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-08-19 05:19:34 UTC (rev 22253)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-08-19 05:21:11 UTC (rev 22254)
@@ -8,6 +8,7 @@
   <node machine="four" pkg="joy" type="joy"  respawn="true"/> 
 
 <!-- Power Board Control Node -->
+  <param name="power_board_serial" value="1007"/>  
   <node pkg="pr2_power_board" type="power_node"  respawn="true"/>
 
 <!-- Robot state publisher -->


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[Personalrobots-commit] SF.net SVN: personalrobots:[22734] pkg/trunk/stacks/pr2/pr2_alpha

[<wg_...@us...>]

Revision: 22734
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=22734&view=rev
Author:   wg_cmeyers
Date:     2009-08-24 19:16:32 +0000 (Mon, 24 Aug 2009)

Log Message:
-----------
Update launch file to pass new parameters to the battery server, also
start new power monitor node.

Modified Paths:
--------------
    pkg/trunk/stacks/pr2/pr2_alpha/pre.launch
    pkg/trunk/stacks/pr2/pr2_alpha/pre.people.launch
    pkg/trunk/stacks/pr2/pr2_alpha/prf.launch
    pkg/trunk/stacks/pr2/pr2_alpha/prf_manip.launch
    pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
    pkg/trunk/stacks/pr2/pr2_alpha/prg.people.launch

Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-08-24 19:14:43 UTC (rev 22733)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-08-24 19:16:32 UTC (rev 22734)
@@ -23,8 +23,18 @@
  </node>
 
 <!-- Battery Monitor -->
-  <node machine="two" pkg="ocean_battery_driver" type="monitor" 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" />
+    <param name="port2" type="string" value="/dev/ttyUSB2" />
+    <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" />

Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre.people.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre.people.launch	2009-08-24 19:14:43 UTC (rev 22733)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre.people.launch	2009-08-24 19:16:32 UTC (rev 22734)
@@ -11,7 +11,17 @@
   <node pkg="pr2_power_board" type="power_node"  respawn="true"/>
 
 <!-- Battery Monitor -->
-  <node machine="two" pkg="ocean_battery_driver" type="monitor" 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" />
+    <param name="port2" type="string" value="/dev/ttyUSB2" />
+    <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"/>
+
 <!-- Battery Assertions -->
 <include file="$(find ocean_battery_driver)/expected_batteries.launch"/>
 

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf.launch	2009-08-24 19:14:43 UTC (rev 22733)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf.launch	2009-08-24 19:16:32 UTC (rev 22734)
@@ -18,8 +18,18 @@
  </node>
 
 <!-- Battery Monitor -->
-  <node machine="two" pkg="ocean_battery_driver" type="monitor" 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" />
+    <param name="port2" type="string" value="/dev/ttyUSB2" />
+    <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" />

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf_manip.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf_manip.launch	2009-08-24 19:14:43 UTC (rev 22733)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf_manip.launch	2009-08-24 19:16:32 UTC (rev 22734)
@@ -20,8 +20,18 @@
   <node pkg="pr2_power_board" type="power_node"  respawn="true"/>
 
 <!-- Battery Monitor -->
-  <node machine="two" pkg="ocean_battery_driver" type="monitor" 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" />
+    <param name="port2" type="string" value="/dev/ttyUSB2" />
+    <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" />

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-08-24 19:14:43 UTC (rev 22733)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-08-24 19:16:32 UTC (rev 22734)
@@ -18,8 +18,18 @@
  </node>
 
 <!-- Battery Monitor -->
-  <node machine="two" pkg="ocean_battery_driver" type="monitor" respawn="false"/>
+  <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" />
+    <param name="port2" type="string" value="/dev/ttyUSB2" />
+    <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" />

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg.people.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg.people.launch	2009-08-24 19:14:43 UTC (rev 22733)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg.people.launch	2009-08-24 19:16:32 UTC (rev 22734)
@@ -11,7 +11,17 @@
   <node pkg="pr2_power_board" type="power_node"  respawn="true"/>
 
 <!-- Battery Monitor -->
-  <node machine="two" pkg="ocean_battery_driver" type="monitor" 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" />
+    <param name="port2" type="string" value="/dev/ttyUSB2" />
+    <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"/>
+
 <!-- Battery Assertions -->
 <include file="$(find ocean_battery_driver)/expected_batteries.launch"/>
 


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[Personalrobots-commit] SF.net SVN: personalrobots:[23069] pkg/trunk/stacks/pr2/pr2_alpha

[<bla...@us...>]

Revision: 23069
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23069&view=rev
Author:   blaisegassend
Date:     2009-08-27 00:03:26 +0000 (Thu, 27 Aug 2009)

Log Message:
-----------
Mistyped parameter name in previous commit.

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

Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-08-27 00:03:14 UTC (rev 23068)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-08-27 00:03:26 UTC (rev 23069)
@@ -59,7 +59,7 @@
   <param name="imu/autostart" type="bool" value="true" />
   <param name="imu/frameid"  type="string" value="imu" />
   <param name="imu/autocalibrate" type="bool" value="true" />
-  <param name="imu/angular_velocity_covariance" type="double" value="0.00017" />
+  <param name="imu/angular_velocity_stdev" type="double" value="0.00017" />
   <node machine="realtime" pkg="imu_node" type="imu_node" output="screen"/>
 
 <!-- Forearm Cameras -->

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf.launch	2009-08-27 00:03:14 UTC (rev 23068)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf.launch	2009-08-27 00:03:26 UTC (rev 23069)
@@ -53,7 +53,7 @@
   <param name="imu/port"  type="string" value="/dev/ttyUSB0" />
   <param name="imu/autostart" type="bool" value="true" />
   <param name="imu/frameid"  type="string" value="imu" />
-  <param name="imu/angular_velocity_covariance" type="double" value="0.00017" />
+  <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"/>
 

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-08-27 00:03:14 UTC (rev 23068)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-08-27 00:03:26 UTC (rev 23069)
@@ -55,7 +55,7 @@
   <param name="imu/port"  type="string" value="/dev/ttyUSB0" />
   <param name="imu/autostart" type="bool" value="true" />
   <param name="imu/frameid"  type="string" value="imu" />
-  <param name="imu/angular_velocity_covariance" type="double" value="0.00017" />
+  <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"/>
 


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[Personalrobots-commit] SF.net SVN: personalrobots:[23144] pkg/trunk/stacks/pr2/pr2_alpha

[<wa...@us...>]

Revision: 23144
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23144&view=rev
Author:   wattsk
Date:     2009-08-27 15:18:57 +0000 (Thu, 27 Aug 2009)

Log Message:
-----------
Removing other diagnostic analyzer from PRF/PRG analyzers

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	2009-08-27 14:35:45 UTC (rev 23143)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre_analyzers.yaml	2009-08-27 15:18:57 UTC (rev 23144)
@@ -121,7 +121,3 @@
     'Smart Battery 3.1',
     'Smart Battery 3.2',
     'Smart Battery 3.3']
-other:
-  prefix: Other
-  type: GenericAnalyzer
-  other: true
\ No newline at end of file

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf_prg_analyzers.yaml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf_prg_analyzers.yaml	2009-08-27 14:35:45 UTC (rev 23143)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf_prg_analyzers.yaml	2009-08-27 15:18:57 UTC (rev 23144)
@@ -105,7 +105,3 @@
     'Smart Battery 3.1',
     'Smart Battery 3.2',
     'Smart Battery 3.3']
-other:
-  prefix: Other
-  type: GenericAnalyzer
-  other: true
\ No newline at end of file


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[Personalrobots-commit] SF.net SVN: personalrobots:[23261] pkg/trunk/stacks/pr2/pr2_alpha

[<wa...@us...>]

Revision: 23261
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23261&view=rev
Author:   wattsk
Date:     2009-08-28 16:33:48 +0000 (Fri, 28 Aug 2009)

Log Message:
-----------
Removing bogus group tag from teleop files. #2635

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

Modified: pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch	2009-08-28 16:31:54 UTC (rev 23260)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_joystick.launch	2009-08-28 16:33:48 UTC (rev 23261)
@@ -1,37 +1,35 @@
 <launch>
   <include file="$(find pr2_alpha)/teleop_controllers.launch" />
   
-  <group name="joystick_teleop">
-    <!-- Axes -->
-    <param name="axis_vx" value="3" type="int"/>
-    <param name="axis_vy" value="2" type="int"/>
-    <param name="axis_vw" value="0" type="int"/>
-    <param name="axis_pan" value="0" type="int"/>
-    <param name="axis_tilt" value="3" type="int"/>
-    
-    <!-- Base velocities -->
-    <param name="max_vw" value="0.8" />
-    <param name="max_vx" value="0.5" />
-    <param name="max_vy" value="0.5" />
-    <param name="max_vw_run" value="1.4" />
-    <param name="max_vx_run" value="1.0" />
-    <param name="max_vy_run" value="1.0" />
-    
-    <!-- Head -->
-    <param name="max_pan" value="2.7" />
-    <param name="max_tilt" value="1.4" />
-    <param name="min_tilt" value="-0.4" />
-    <param name="tilt_step" value="0.015" />
-    <param name="pan_step" value="0.02" />
-    
-    <!-- Button maps for logitech -->
-    <param name="run_button" value="5" type="int" />
-    <param name="torso_dn_button" value="1" type="int" />
-    <param name="torso_up_button" value="3" type="int" />
-    <param name="head_button" value="6" type="int" />
-    <param name="deadman_button" value="4" type="int"/>
-    
-    <node pkg="teleop_pr2" type="teleop_pr2" output="screen"/>
-  </group>
+  <!-- Axes -->
+  <param name="axis_vx" value="3" type="int"/>
+  <param name="axis_vy" value="2" type="int"/>
+  <param name="axis_vw" value="0" type="int"/>
+  <param name="axis_pan" value="0" type="int"/>
+  <param name="axis_tilt" value="3" type="int"/>
+  
+  <!-- Base velocities -->
+  <param name="max_vw" value="0.8" />
+  <param name="max_vx" value="0.5" />
+  <param name="max_vy" value="0.5" />
+  <param name="max_vw_run" value="1.4" />
+  <param name="max_vx_run" value="1.0" />
+  <param name="max_vy_run" value="1.0" />
+  
+  <!-- Head -->
+  <param name="max_pan" value="2.7" />
+  <param name="max_tilt" value="1.4" />
+  <param name="min_tilt" value="-0.4" />
+  <param name="tilt_step" value="0.015" />
+  <param name="pan_step" value="0.02" />
+  
+  <!-- Button maps for logitech -->
+  <param name="run_button" value="5" type="int" />
+  <param name="torso_dn_button" value="1" type="int" />
+  <param name="torso_up_button" value="3" type="int" />
+  <param name="head_button" value="6" type="int" />
+  <param name="deadman_button" value="4" type="int"/>
+  
+  <node pkg="teleop_pr2" type="teleop_pr2" output="screen"/>
 </launch>
 

Modified: pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch	2009-08-28 16:31:54 UTC (rev 23260)
+++ pkg/trunk/stacks/pr2/pr2_alpha/teleop_ps3.launch	2009-08-28 16:33:48 UTC (rev 23261)
@@ -1,37 +1,35 @@
 <launch>
   <include file="$(find pr2_alpha)/teleop_controllers.launch" />
+
+  <!-- Axes -->
+  <param name="axis_vx" value="3" type="int"/>
+  <param name="axis_vy" value="2" type="int"/>
+  <param name="axis_vw" value="0" type="int"/>
+  <param name="axis_pan" value="0" type="int"/>
+  <param name="axis_tilt" value="3" type="int"/>
   
-  <group name="ps3_teleop">
-    <!-- Axes -->
-    <param name="axis_vx" value="3" type="int"/>
-    <param name="axis_vy" value="2" type="int"/>
-    <param name="axis_vw" value="0" type="int"/>
-    <param name="axis_pan" value="0" type="int"/>
-    <param name="axis_tilt" value="3" type="int"/>
-    
-    <!-- Base velocities -->
-    <param name="max_vw" value="0.8" />
-    <param name="max_vx" value="0.5" />
-    <param name="max_vy" value="0.5" />
-    <param name="max_vw_run" value="1.4" />
-    <param name="max_vx_run" value="1.0" />
-    <param name="max_vy_run" value="1.0" />
-    
-    <!-- Head -->
-    <param name="max_pan" value="2.7" />
-    <param name="max_tilt" value="1.4" />
-    <param name="min_tilt" value="-0.4" />
-    <param name="tilt_step" value="0.015" />
-    <param name="pan_step" value="0.02" />
-    
-    <!-- Buttons have changed for PS3 controller mapping -->
-    <param name="run_button" value="11" type="int" />
-    <param name="torso_dn_button" value="14" type="int" />
-    <param name="torso_up_button" value="12" type="int" />
-    <param name="head_button" value="8" type="int" />
-    <param name="deadman_button" value="10" type="int"/>
-    
-    <node pkg="teleop_pr2" type="teleop_pr2" output="screen"/>
-  </group>
+  <!-- Base velocities -->
+  <param name="max_vw" value="0.8" />
+  <param name="max_vx" value="0.5" />
+  <param name="max_vy" value="0.5" />
+  <param name="max_vw_run" value="1.4" />
+  <param name="max_vx_run" value="1.0" />
+  <param name="max_vy_run" value="1.0" />
+  
+  <!-- Head -->
+  <param name="max_pan" value="2.7" />
+  <param name="max_tilt" value="1.4" />
+  <param name="min_tilt" value="-0.4" />
+  <param name="tilt_step" value="0.015" />
+  <param name="pan_step" value="0.02" />
+  
+  <!-- Buttons have changed for PS3 controller mapping -->
+  <param name="run_button" value="11" type="int" />
+  <param name="torso_dn_button" value="14" type="int" />
+  <param name="torso_up_button" value="12" type="int" />
+  <param name="head_button" value="8" type="int" />
+  <param name="deadman_button" value="10" type="int"/>
+  
+  <node pkg="teleop_pr2" type="teleop_pr2" output="screen"/>
 </launch>
 


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[Personalrobots-commit] SF.net SVN: personalrobots:[23329] pkg/trunk/stacks/pr2/pr2_alpha

[<bla...@us...>]

Revision: 23329
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23329&view=rev
Author:   blaisegassend
Date:     2009-08-29 02:13:07 +0000 (Sat, 29 Aug 2009)

Log Message:
-----------
Fixes related to the forearm camera name change

Modified Paths:
--------------
    pkg/trunk/stacks/pr2/pr2_alpha/pre.launch
    pkg/trunk/stacks/pr2/pr2_alpha/prf.launch
    pkg/trunk/stacks/pr2/pr2_alpha/prf_forearm_cam.launch
    pkg/trunk/stacks/pr2/pr2_alpha/prf_forearm_cam_config.launch
    pkg/trunk/stacks/pr2/pr2_alpha/prg.launch

Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-08-29 02:03:51 UTC (rev 23328)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre.launch	2009-08-29 02:13:07 UTC (rev 23329)
@@ -63,7 +63,7 @@
   <node machine="realtime" pkg="imu_node" type="imu_node" name="imu_node" output="screen"/>
 
 <!-- Forearm Cameras -->
-  <node machine="two" name="wge100_camera_r" pkg="wge100_camera" type="forearm_node" respawn="false" output="screen">
+  <node machine="two" name="forearm_camera_r" pkg="wge100_camera" type="wge100_camera_node" respawn="false" 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" />
@@ -77,7 +77,7 @@
     <param name="trig_phase" type="int" value="0" />
   </node>
   
-  <node machine="two" name="wge100_camera_l" pkg="wge100_camera" type="forearm_node" respawn="false" output="screen">
+  <node machine="two" name="forearm_camera_l" pkg="wge100_camera" type="wge100_camera_node" respawn="false" output="screen">
     <param name="camera_url" type="str" value="name://forearm_l"/>
     <param name="video_mode" type="str" value="640x480x30" />
     <param name="auto_exposure" type="bool" value="True" />

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf.launch	2009-08-29 02:03:51 UTC (rev 23328)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf.launch	2009-08-29 02:13:07 UTC (rev 23329)
@@ -95,8 +95,8 @@
   </group>
 
 <!-- Forearm Camera -->
-  <include file="$(find pr2_alpha)/prf_wge100_camera_config.launch"/>
-  <node machine="three" name="wge100_camera_r" pkg="wge100_camera" type="forearm_node" respawn="false" output="screen"/>
+  <include file="$(find pr2_alpha)/prf_forearm_cam_config.launch"/>
+  <node machine="three" name="forearm_camera_r" pkg="wge100_camera" type="wge100_camera_node" respawn="false" output="screen"/>
 
 <!-- Sound  -->
   <node pkg="sound_play" type="soundplay_node.py" machine="four" />

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf_forearm_cam.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf_forearm_cam.launch	2009-08-29 02:03:51 UTC (rev 23328)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf_forearm_cam.launch	2009-08-29 02:13:07 UTC (rev 23329)
@@ -1,7 +1,7 @@
 <launch>
-  <include file="$(find pr2_alpha)/prf_wge100_camera_config.launch"/>
-  <node name="wge100_camera_r" pkg="wge100_camera" type="forearm_node" respawn="false" output="screen"/>
+  <include file="$(find pr2_alpha)/prf_forearm_cam_config.launch"/>
+  <node name="forearm_camera_r" pkg="wge100_camera" type="wge100_camera_node" respawn="false" output="screen"/>
   <node name="forearm_proc_r" pkg="stereo_image_proc" type="imageproc" respawn="false" output="screen">
-    <remap from="camera" to="wge100_camera_r"/>
+    <remap from="camera" to="forearm_camera_r"/>
   </node>
 </launch>

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf_forearm_cam_config.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf_forearm_cam_config.launch	2009-08-29 02:03:51 UTC (rev 23328)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf_forearm_cam_config.launch	2009-08-29 02:13:07 UTC (rev 23329)
@@ -1,5 +1,5 @@
 <launch>
-  <group ns="wge100_camera_r">
+  <group ns="forearm_camera_r">
     <param name="camera_url" type="str" value="serial://3@10.68.0.68"/>
     <param name="video_mode" type="str" value="640x480x30"/>
     <param name="frame_id" type="str" value="r_wge100_camera_optical_frame"/>

Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-08-29 02:03:51 UTC (rev 23328)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg.launch	2009-08-29 02:13:07 UTC (rev 23329)
@@ -96,7 +96,7 @@
 
 
 <!-- Forearm Camera -->
-  <node machine="three" name="wge100_camera_r" pkg="wge100_camera" type="forearm_node" respawn="true" output="screen">
+  <node machine="three" 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" />


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