Thread: [Personalrobots-commit] SF.net SVN: personalrobots:[22504] pkg/trunk/sandbox/texas

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Revision: 22504
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=22504&view=rev
Author:   wattsk
Date:     2009-08-21 01:05:38 +0000 (Fri, 21 Aug 2009)

Log Message:
-----------
Update for an alpha2 caster.

Modified Paths:
--------------
    pkg/trunk/sandbox/texas/controllers.xml
    pkg/trunk/sandbox/texas/dallas.yaml
    pkg/trunk/sandbox/texas/drive.launch
    pkg/trunk/sandbox/texas/mainpage.dox
    pkg/trunk/sandbox/texas/manifest.xml
    pkg/trunk/sandbox/texas/tdrive.py
    pkg/trunk/sandbox/texas/texas.launch

Modified: pkg/trunk/sandbox/texas/controllers.xml
===================================================================

--- pkg/trunk/sandbox/texas/controllers.xml	2009-08-21 01:04:22 UTC (rev 22503)
+++ pkg/trunk/sandbox/texas/controllers.xml	2009-08-21 01:05:38 UTC (rev 22504)
@@ -1,8 +1,8 @@
 <controllers>
   <controller name="caster" type="CasterControllerNode">
-    <joints caster="fl_caster_rotation_joint"
-            wheel_l="fl_caster_l_wheel_joint"
-            wheel_r="fl_caster_r_wheel_joint" />
+    <joints caster="bl_caster_rotation_joint"
+            wheel_l="bl_caster_l_wheel_joint"
+            wheel_r="bl_caster_r_wheel_joint" />
     <caster_pid p="5.0" i="0" d="0" iClamp="0" />
     <wheel_pid p="4" i="0" d="0" iClamp="0" />
   </controller>

Modified: pkg/trunk/sandbox/texas/dallas.yaml
===================================================================
--- pkg/trunk/sandbox/texas/dallas.yaml	2009-08-21 01:04:22 UTC (rev 22503)
+++ pkg/trunk/sandbox/texas/dallas.yaml	2009-08-21 01:05:38 UTC (rev 22504)
@@ -2,12 +2,9 @@
  type: DallasController
  kp_caster_steer: 10.0
  joints:
-#   caster: bl_caster_rotation_joint
-#   wheel_l: bl_caster_l_wheel_joint
-#   wheel_r: bl_caster_r_wheel_joint
-   caster: bl_caster_l_wheel_joint
-   wheel_l: bl_caster_r_wheel_joint
-   wheel_r: bl_caster_rotation_joint
+   caster: bl_caster_rotation_joint
+   wheel_l: bl_caster_l_wheel_joint
+   wheel_r: bl_caster_r_wheel_joint
  caster_pid:
    p: 3
  wheel_pid:

Modified: pkg/trunk/sandbox/texas/drive.launch
===================================================================
--- pkg/trunk/sandbox/texas/drive.launch	2009-08-21 01:04:22 UTC (rev 22503)
+++ pkg/trunk/sandbox/texas/drive.launch	2009-08-21 01:05:38 UTC (rev 22504)
@@ -1,12 +1,11 @@
 <launch>
+<rosparam command="load" file="$(find texas)/caster.yaml" />
+<node pkg="mechanism_control" type="spawner.py" args="caster_bl" />
 
-<node pkg="mechanism_control" type="spawner.py" 
-      args="$(find texas)/controllers.xml" />
+<node pkg="texas" type="tdrive.py" output="screen" />
 
-<node pkg="texas" type="tdrive.py" />
-
 <node pkg="texas" type="teleop_texas_keyboard" output="screen" >
   <param name="max_vel" type="double" value="6.0" />
 </node>
 
-</launch>
\ No newline at end of file
+</launch>

Modified: pkg/trunk/sandbox/texas/mainpage.dox
===================================================================
--- pkg/trunk/sandbox/texas/mainpage.dox	2009-08-21 01:04:22 UTC (rev 22503)
+++ pkg/trunk/sandbox/texas/mainpage.dox	2009-08-21 01:05:38 UTC (rev 22504)
@@ -2,18 +2,19 @@
 \mainpage
 \htmlinclude manifest.html
 
-\b texas is ... 
+\b texas contains the scripts necessary to launch and drive the DallasBot/SkypeBot.
 
-<!-- 
-In addition to providing an overview of your package,
-this is the section where the specification and design/architecture 
-should be detailed. While the original specification may be done on the
-wiki, it should be transferred here once your package starts to take shape.
-You can then link to this documentation page from the Wiki. 
--->
+\section codeapi Code API
 
+Launching the DallasBot:
+\verbatim
+roslaunch texas.launch
+\endverbatim
 
-\section codeapi Code API
+Driving the Dallas Bot:
+\verbatim
+roslaunch drive.launch
+\endverbatim
 
 <!--
 Provide links to specific auto-generated API documentation within your

Modified: pkg/trunk/sandbox/texas/manifest.xml
===================================================================
--- pkg/trunk/sandbox/texas/manifest.xml	2009-08-21 01:04:22 UTC (rev 22503)
+++ pkg/trunk/sandbox/texas/manifest.xml	2009-08-21 01:05:38 UTC (rev 22504)
@@ -1,13 +1,14 @@
 <package>
   <description brief="Brings up and controls Dallas Bot">
   </description>
-  <author>Dallas, Kevin</author>
+  <author>Dallas Goecker, Kevin Watts</author>
   <license>BSD</license>
   <review status="unreviewed" notes=""/>
   <url>http://pr.willowgarage.com/wiki/texas</url>
   <depend package="pr2_etherCAT"/>
   <depend package="pr2_defs"/>
   <depend package="mechanism_msgs" />
+  <depend package="pr2_mechanism_controllers" />
 </package>
 
 

Modified: pkg/trunk/sandbox/texas/tdrive.py
===================================================================
--- pkg/trunk/sandbox/texas/tdrive.py	2009-08-21 01:04:22 UTC (rev 22503)
+++ pkg/trunk/sandbox/texas/tdrive.py	2009-08-21 01:05:38 UTC (rev 22504)
@@ -27,6 +27,7 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 # Author: Dallas Goecker
+
 import time
 import random
 import roslib
@@ -68,11 +69,13 @@
     pub_drive = rospy.Publisher("/caster/drive_velocity", Float64)
     pub_steer.publish(Float64(0.0))
     pub_drive.publish(Float64(0.0))
-    print "Waiting for a mechanism_state message..."
+    print "tdrive.py: Waiting for robot JointStates publication..."
     while not last_state.msg and not rospy.is_shutdown(): pass
+    print "tdrive.py: Waiting for TexasCmd publication..."
     while not tx_cmd.msg and not rospy.is_shutdown(): pass
+    print "tdrive.py: looping..."
     while not rospy.is_shutdown():
-        time.sleep(0.01)
+        time.sleep(0.10)
         
         # Get angle, velocity from command
         drive_cmd = tx_cmd.last()

Modified: pkg/trunk/sandbox/texas/texas.launch
===================================================================
--- pkg/trunk/sandbox/texas/texas.launch	2009-08-21 01:04:22 UTC (rev 22503)
+++ pkg/trunk/sandbox/texas/texas.launch	2009-08-21 01:05:38 UTC (rev 22504)
@@ -1,7 +1,9 @@
 <launch>
   
   <machine name="realtime_root" user="root" address="texas" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="never"/>
-  <machine name="realtime" address="texas" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="true"/>
+  <machine name="realtime" address="texas" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="true">
+    <env name="PATH" value="$(env PATH):$(env ROS_ROOT)/bin" /> <!-- HACK.  Depends on ROS bug #1586.  Remove when closed -->
+  </machine>
 
   <!-- Uses special defs file for Alpha 2.0 hardware on PRE -->
   <param name="robot_description" command="$(find xacro)/xacro.py '$(find texas)/texas.xml'" />


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Thread: [Personalrobots-commit] SF.net SVN: personalrobots:[22504] pkg/trunk/sandbox/texas

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