Menu
▾
▴
personalrobots-commit
|
From: <ei...@us...> - 2009-08-10 19:03:34
|
Revision: 21444
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21444&view=rev
Author: eitanme
Date: 2009-08-10 19:03:26 +0000 (Mon, 10 Aug 2009)
Log Message:
-----------
Adding remapping back in since odom is now published on the base/odom topic
Modified Paths:
--------------
pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/base_odom_teleop.xml
pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base/move_base.xml
pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base_local/move_base_local.xml
Modified: pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/base_odom_teleop.xml
===================================================================
--- pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/base_odom_teleop.xml 2009-08-10 19:03:25 UTC (rev 21443)
+++ pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/base_odom_teleop.xml 2009-08-10 19:03:26 UTC (rev 21444)
@@ -15,6 +15,7 @@
<param name="odom_used" value="true"/>
<param name="imu_used" value="true"/>
<param name="vo_used" value="false"/>
+ <remap from="odom" to="base/odom" />
</node>
Modified: pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base/move_base.xml
===================================================================
--- pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base/move_base.xml 2009-08-10 19:03:25 UTC (rev 21443)
+++ pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base/move_base.xml 2009-08-10 19:03:26 UTC (rev 21444)
@@ -3,9 +3,8 @@
<node pkg="mux" type="throttle" args="3.0 /move_base/local_costmap/voxel_grid /move_base/local_costmap/voxel_grid_throttled" />
<node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen" machine="four">
- <!--
- <remap from="cmd_vel" to="/bs" />
- -->
+ <remap from="odom" to="base/odom" />
+
<param name="controller_frequency" value="10.0" />
<param name="footprint_padding" value="0.015" />
<param name="controller_patience" value="15.0" />
Modified: pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base_local/move_base_local.xml
===================================================================
--- pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base_local/move_base_local.xml 2009-08-10 19:03:25 UTC (rev 21443)
+++ pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base_local/move_base_local.xml 2009-08-10 19:03:26 UTC (rev 21444)
@@ -3,6 +3,7 @@
<node pkg="mux" type="throttle" args="3.0 /move_base_local/local_costmap/voxel_grid /move_base_local/local_costmap/voxel_grid_throttled" />
<node pkg="move_base" type="move_base" respawn="false" name="move_base_local" output="screen" machine="three">
+ <remap from="odom" to="base/odom" />
<param name="controller_frequency" value="10.0" />
<rosparam file="$(find 2dnav_pr2)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <ei...@us...> - 2009-09-04 00:26:13
|
Revision: 23797
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23797&view=rev
Author: eitanme
Date: 2009-09-04 00:25:58 +0000 (Fri, 04 Sep 2009)
Log Message:
-----------
Checking in files that will work for running the joystick on pre
Added Paths:
-----------
pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/base_odom_teleop_pre.xml
pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base/2dnav_pre.launch
pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base_local/2dnav_pre.launch
Added: pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/base_odom_teleop_pre.xml
===================================================================
--- pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/base_odom_teleop_pre.xml (rev 0)
+++ pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/base_odom_teleop_pre.xml 2009-09-04 00:25:58 UTC (rev 23797)
@@ -0,0 +1,62 @@
+<launch>
+<param name="pr2_base_controller/autostart" value="true"/>
+
+<include file="$(find pr2_default_controllers)/pr2_base_controller_odom.launch"/>
+
+<node pkg="backup_safetysound" type="backingup.py" machine="four" />
+
+<!-- The robot pose EKF is launched with the base controller-->
+<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
+ <param name="freq" value="30.0"/>
+ <param name="sensor_timeout" value="1.0"/>
+ <param name="publish_tf" value="true"/>
+ <param name="odom_used" value="true"/>
+ <param name="imu_used" value="true"/>
+ <param name="vo_used" value="false"/>
+ <remap from="odom" to="pr2_odometry/odom" />
+</node>
+
+<!--ps3 joystick -->
+<!-- Start up pairing thing -->
+<node machine="two_root" pkg="ps3joy" output="screen"
+ type="ps3joy.py" name="ps3_connector" />
+
+<!-- PS3 joy node -->
+<node machine="two" respawn="true" pkg="ps3joy"
+ type="ps3_joy_node" name="ps3_joy" >
+ <param name="dev" type="string" value="/dev/sensors/ps3joy" />
+ <param name="deadzone" value="0.12" />
+</node>
+
+<!-- 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" args="--deadman_no_publish"/>
+
+</launch>
Added: pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base/2dnav_pre.launch
===================================================================
--- pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base/2dnav_pre.launch (rev 0)
+++ pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base/2dnav_pre.launch 2009-09-04 00:25:58 UTC (rev 23797)
@@ -0,0 +1,13 @@
+<launch>
+ <group name="wg">
+ <include file="$(find pr2_alpha)/$(env ROBOT).machine" />
+ <include file="$(find 2dnav_pr2)/config/new_amcl_node.xml" />
+ <include file="$(find 2dnav_pr2)/config/base_odom_teleop_pre.xml" />
+ <include file="$(find 2dnav_pr2)/config/lasers_and_filters.xml" />
+ <include file="$(find 2dnav_pr2)/config/map_server.xml" />
+ <include file="$(find 2dnav_pr2)/config/ground_plane.xml" />
+
+ <!-- The naviagtion stack and associated parameters -->
+ <include file="$(find 2dnav_pr2)/move_base/move_base.xml" />
+ </group>
+</launch>
Added: pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base_local/2dnav_pre.launch
===================================================================
--- pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base_local/2dnav_pre.launch (rev 0)
+++ pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base_local/2dnav_pre.launch 2009-09-04 00:25:58 UTC (rev 23797)
@@ -0,0 +1,9 @@
+<launch>
+ <include file="$(find pr2_alpha)/$(env ROBOT).machine" />
+ <include file="$(find 2dnav_pr2)/config/base_odom_teleop_pre.xml" />
+ <include file="$(find 2dnav_pr2)/config/lasers_and_filters.xml" />
+ <include file="$(find 2dnav_pr2)/config/ground_plane.xml" />
+
+ <!-- The naviagtion stack and associated parameters -->
+ <include file="$(find 2dnav_pr2)/move_base_local/move_base_local.xml" />
+</launch>
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <ei...@us...> - 2009-09-04 17:04:26
|
Revision: 23833
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23833&view=rev
Author: eitanme
Date: 2009-09-04 17:04:13 +0000 (Fri, 04 Sep 2009)
Log Message:
-----------
No longer needs a dependency on 3dnav_pr2 because the robot_self_filter has been updated
Modified Paths:
--------------
pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/lasers_and_filters.xml
pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/manifest.xml
Modified: pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/lasers_and_filters.xml
===================================================================
--- pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/lasers_and_filters.xml 2009-09-04 16:16:14 UTC (rev 23832)
+++ pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/lasers_and_filters.xml 2009-09-04 17:04:13 UTC (rev 23833)
@@ -1,7 +1,5 @@
<launch>
-<include file="$(find 3dnav_pr2)/launch/pr2_planning_environment.launch" />
-
<node pkg="mux" type="throttle" args="3.0 base_scan base_scan_throttled" />
<node pkg="mux" type="throttle" args="3.0 tilt_scan tilt_scan_throttled" />
<node pkg="mux" type="throttle" args="3.0 tilt_scan_filtered tilt_scan_filtered_throttled" />
Modified: pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/manifest.xml
===================================================================
--- pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/manifest.xml 2009-09-04 16:16:14 UTC (rev 23832)
+++ pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/manifest.xml 2009-09-04 17:04:13 UTC (rev 23833)
@@ -20,7 +20,6 @@
<depend package="backup_safetysound"/>
<depend package="geometry_msgs"/>
<depend package="robot_self_filter"/>
- <depend package="3dnav_pr2"/>
<!-- packages used in the test scripts -->
<depend package="robot_actions"/>
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
Thanks for helping keep SourceForge clean.
X