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From: <hsu...@us...> - 2009-05-29 19:43:21
|
Revision: 16386
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16386&view=rev
Author: hsujohnhsu
Date: 2009-05-29 19:43:11 +0000 (Fri, 29 May 2009)
Log Message:
-----------
Merging from branch:
svn merge -r 15851:15870 https://personalrobots.svn.sf.net/svnroot/personalrobots/pkg/branches/gazebo-branch-merge .
Modified Paths:
--------------
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/empty.world
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple.world
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/wg.world
Property Changed:
----------------
pkg/trunk/
pkg/trunk/robot_descriptions/gazebo_robot_description/Media/
pkg/trunk/visualization/
pkg/trunk/visualization/rviz/src/rviz/generated/rviz_generated.i
pkg/trunk/visualization/rviz/src/rviz/properties/forwards.h
pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp
pkg/trunk/visualization/rviz/src/rviz/robot/robot.h
pkg/trunk/visualization_core/ogre_tools/
pkg/trunk/visualization_core/ogre_tools/media/
pkg/trunk/visualization_core/ogre_tools/src/stl_to_mesh/
pkg/trunk/visualization_core/ogre_tools/test/
Property changes on: pkg/trunk
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge:15739-15794,15797-15820,15822-15839
+ /pkg/branches/gazebo-branch-merge:15739-15794,15797-15820,15822-15839,15852-15870
Property changes on: pkg/trunk/robot_descriptions/gazebo_robot_description/Media
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/robot_descriptions/gazebo_robot_description/Media:15797-15820,15822-15839
+ /pkg/branches/gazebo-branch-merge/robot_descriptions/gazebo_robot_description/Media:15797-15820,15822-15839,15852-15870
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/empty.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/empty.world 2009-05-29 19:39:10 UTC (rev 16385)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/empty.world 2009-05-29 19:43:11 UTC (rev 16386)
@@ -122,6 +122,7 @@
<diffuseColor>0.4 0.4 0.4</diffuseColor>
<specularColor>0.0 0.0 0.0</specularColor>
<attenuation>1 0.0 1.0 0.4</attenuation>
+ <range>10</range>
</light>
</model:renderable>
<!--
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple.world 2009-05-29 19:39:10 UTC (rev 16385)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple.world 2009-05-29 19:43:11 UTC (rev 16386)
@@ -255,6 +255,7 @@
<diffuseColor>0.4 0.4 0.4</diffuseColor>
<specularColor>0.0 0.0 0.0</specularColor>
<attenuation>1 0.0 1.0 0.4</attenuation>
+ <range>10</range>
</light>
</model:renderable>
<!--
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/wg.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/wg.world 2009-05-29 19:39:10 UTC (rev 16385)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/wg.world 2009-05-29 19:43:11 UTC (rev 16386)
@@ -146,6 +146,7 @@
<diffuseColor>0.4 0.4 0.4</diffuseColor>
<specularColor>0.0 0.0 0.0</specularColor>
<attenuation>1 0.0 1.0 0.4</attenuation>
+ <range>10</range>
</light>
</model:renderable>
<!--
Property changes on: pkg/trunk/visualization
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization:15739-15794,15797-15820,15822-15839
/pkg/branches/josh/rviz_selection:12152-13640
/pkg/branches/josh/visualization_scratch:14041-14428
+ /pkg/branches/gazebo-branch-merge/visualization:15739-15794,15797-15820,15822-15839,15852-15870
/pkg/branches/josh/rviz_selection:12152-13640
/pkg/branches/josh/visualization_scratch:14041-14428
Property changes on: pkg/trunk/visualization/rviz/src/rviz/generated/rviz_generated.i
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/generated/rviz_generated.i:15739-15794,15797-15820,15822-15839
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/generated/rviz_generated.i:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/generated/visualization_panel_generated.i:12189
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/generated/rviz_generated.i:15739-15794,15797-15820,15822-15839,15852-15870
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/generated/rviz_generated.i:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/generated/visualization_panel_generated.i:12189
Property changes on: pkg/trunk/visualization/rviz/src/rviz/properties/forwards.h
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/properties/forwards.h:15739-15794,15797-15820,15822-15839
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/properties/forwards.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/properties/property_forwards.h:12189,12408-12643,12667
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/properties/forwards.h:15739-15794,15797-15820,15822-15839,15852-15870
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/properties/forwards.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/properties/property_forwards.h:12189,12408-12643,12667
Property changes on: pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.cpp:15739-15794,15797-15820,15822-15839
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.cpp:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp:497-13654
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.cpp:15739-15794,15797-15820,15822-15839,15852-15870
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.cpp:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp:497-13654
Property changes on: pkg/trunk/visualization/rviz/src/rviz/robot/robot.h
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.h:15739-15794,15797-15820,15822-15839
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.h:497-13654
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.h:15739-15794,15797-15820,15822-15839,15852-15870
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.h:497-13654
Property changes on: pkg/trunk/visualization_core/ogre_tools
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools:15739-15794,15797-15820,15822-15839
/pkg/branches/josh/visualization_scratch/ogre_tools:14041-14418
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools:15739-15794,15797-15820,15822-15839,15852-15870
/pkg/branches/josh/visualization_scratch/ogre_tools:14041-14418
Property changes on: pkg/trunk/visualization_core/ogre_tools/media
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/media:15739-15794,15797-15820,15822-15839
/pkg/branches/josh/visualization_scratch/ogre_tools/media:14041-14418
/pkg/trunk/visualization/ogre_tools/media:2217-8463
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/media:15739-15794,15797-15820,15822-15839,15852-15870
/pkg/branches/josh/visualization_scratch/ogre_tools/media:14041-14418
/pkg/trunk/visualization/ogre_tools/media:2217-8463
Property changes on: pkg/trunk/visualization_core/ogre_tools/src/stl_to_mesh
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/src/stl_to_mesh:15739-15794,15797-15820,15822-15839
/pkg/branches/josh/visualization_scratch/ogre_tools/src/stl_to_mesh:14041-14418
/pkg/trunk/visualization/ogre_tools/src/stl_to_mesh:2217-2818
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/src/stl_to_mesh:15739-15794,15797-15820,15822-15839,15852-15870
/pkg/branches/josh/visualization_scratch/ogre_tools/src/stl_to_mesh:14041-14418
/pkg/trunk/visualization/ogre_tools/src/stl_to_mesh:2217-2818
Property changes on: pkg/trunk/visualization_core/ogre_tools/test
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/test:15739-15794,15797-15820,15822-15839
/pkg/branches/josh/visualization_scratch/ogre_tools/test:14041-14418
/pkg/trunk/visualization/ogre_tools/test:2217-3599
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/test:15739-15794,15797-15820,15822-15839,15852-15870
/pkg/branches/josh/visualization_scratch/ogre_tools/test:14041-14418
/pkg/trunk/visualization/ogre_tools/test:2217-3599
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <hsu...@us...> - 2009-05-29 19:56:36
|
Revision: 16387
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16387&view=rev
Author: hsujohnhsu
Date: 2009-05-29 19:56:08 +0000 (Fri, 29 May 2009)
Log Message:
-----------
Merging from branch:
svn merge -r 15982:16008 https://personalrobots.svn.sf.net/svnroot/personalrobots/pkg/branches/gazebo-branch-merge .
Modified Paths:
--------------
pkg/trunk/visualization_core/ogre/Makefile
Removed Paths:
-------------
pkg/trunk/visualization_core/ogre/boost.patch
pkg/trunk/visualization_core/ogre/warnings.patch
Property Changed:
----------------
pkg/trunk/
pkg/trunk/robot_descriptions/gazebo_robot_description/Media/
pkg/trunk/visualization/
pkg/trunk/visualization/rviz/src/rviz/generated/rviz_generated.i
pkg/trunk/visualization/rviz/src/rviz/properties/forwards.h
pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp
pkg/trunk/visualization/rviz/src/rviz/robot/robot.h
pkg/trunk/visualization_core/ogre_tools/
pkg/trunk/visualization_core/ogre_tools/media/
pkg/trunk/visualization_core/ogre_tools/src/stl_to_mesh/
pkg/trunk/visualization_core/ogre_tools/test/
Property changes on: pkg/trunk
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge:15739-15794,15797-15820,15822-15839,15852-15870
+ /pkg/branches/gazebo-branch-merge:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008
Property changes on: pkg/trunk/robot_descriptions/gazebo_robot_description/Media
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/robot_descriptions/gazebo_robot_description/Media:15797-15820,15822-15839,15852-15870
+ /pkg/branches/gazebo-branch-merge/robot_descriptions/gazebo_robot_description/Media:15797-15820,15822-15839,15852-15870,15983-16008
Property changes on: pkg/trunk/visualization
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization:15739-15794,15797-15820,15822-15839,15852-15870
/pkg/branches/josh/rviz_selection:12152-13640
/pkg/branches/josh/visualization_scratch:14041-14428
+ /pkg/branches/gazebo-branch-merge/visualization:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008
/pkg/branches/josh/rviz_selection:12152-13640
/pkg/branches/josh/visualization_scratch:14041-14428
Property changes on: pkg/trunk/visualization/rviz/src/rviz/generated/rviz_generated.i
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/generated/rviz_generated.i:15739-15794,15797-15820,15822-15839,15852-15870
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/generated/rviz_generated.i:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/generated/visualization_panel_generated.i:12189
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/generated/rviz_generated.i:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/generated/rviz_generated.i:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/generated/visualization_panel_generated.i:12189
Property changes on: pkg/trunk/visualization/rviz/src/rviz/properties/forwards.h
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/properties/forwards.h:15739-15794,15797-15820,15822-15839,15852-15870
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/properties/forwards.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/properties/property_forwards.h:12189,12408-12643,12667
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/properties/forwards.h:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/properties/forwards.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/properties/property_forwards.h:12189,12408-12643,12667
Property changes on: pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.cpp:15739-15794,15797-15820,15822-15839,15852-15870
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.cpp:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp:497-13654
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.cpp:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.cpp:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp:497-13654
Property changes on: pkg/trunk/visualization/rviz/src/rviz/robot/robot.h
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.h:15739-15794,15797-15820,15822-15839,15852-15870
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.h:497-13654
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.h:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.h:497-13654
Modified: pkg/trunk/visualization_core/ogre/Makefile
===================================================================
--- pkg/trunk/visualization_core/ogre/Makefile 2009-05-29 19:43:11 UTC (rev 16386)
+++ pkg/trunk/visualization_core/ogre/Makefile 2009-05-29 19:56:08 UTC (rev 16387)
@@ -1,6 +1,6 @@
all: ogre
-OGRE_VERSION = ogre-v1-4-9
+OGRE_VERSION = ogre-v1-6-1
TARBALL = build/$(OGRE_VERSION).tar.bz2
TARBALL_URL = http://pr.willowgarage.com/downloads/$(OGRE_VERSION).tar.bz2
SOURCE_DIR = build/$(OGRE_VERSION)
Deleted: pkg/trunk/visualization_core/ogre/boost.patch
===================================================================
--- pkg/trunk/visualization_core/ogre/boost.patch 2009-05-29 19:43:11 UTC (rev 16386)
+++ pkg/trunk/visualization_core/ogre/boost.patch 2009-05-29 19:56:08 UTC (rev 16387)
@@ -1,14 +0,0 @@
---- configure 2009-01-22 16:02:27.000000000 -0800
-+++ configure-noboosterror 2009-01-22 16:02:22.000000000 -0800
-@@ -25777,11 +25777,6 @@
- echo "${ECHO_T}$ac_cv_lib_boost_thread_mt_main" >&6
- if test $ac_cv_lib_boost_thread_mt_main = yes; then
- OGRE_THREAD_LIBS="-lboost_thread-mt"
--else
--
-- { { echo "$as_me:$LINENO: error: You need the C++ boost libraries." >&5
--echo "$as_me: error: You need the C++ boost libraries." >&2;}
-- { (exit 1); exit 1; }; }
- fi
-
- fi
Deleted: pkg/trunk/visualization_core/ogre/warnings.patch
===================================================================
--- pkg/trunk/visualization_core/ogre/warnings.patch 2009-05-29 19:43:11 UTC (rev 16386)
+++ pkg/trunk/visualization_core/ogre/warnings.patch 2009-05-29 19:56:08 UTC (rev 16387)
@@ -1,98 +0,0 @@
-*** OgreMain/include/OgreUTFString.h 2007-03-08 22:11:57.000000000 -0800
---- OgreMain/include/OgreUTFString_patched.h 2008-10-08 12:59:12.828243011 -0700
-***************
-*** 30,36 ****
-
- #include "OgrePrerequisites.h"
-
-! #if OGRE_UNICODE_SUPPORT
-
- // these are explained later
- #include <iterator>
---- 30,36 ----
-
- #include "OgrePrerequisites.h"
-
-! #if OGRE_UNICODE_SUPPORT
-
- // these are explained later
- #include <iterator>
-***************
-*** 287,293 ****
- friend class _const_fwd_iterator;
- public:
- _fwd_iterator() {}
-! _fwd_iterator( const _fwd_iterator& i ) {
- _become( i );
- }
-
---- 287,293 ----
- friend class _const_fwd_iterator;
- public:
- _fwd_iterator() {}
-! _fwd_iterator( const _fwd_iterator& i ) : _base_iterator() {
- _become( i );
- }
-
-***************
-*** 418,424 ****
- class _const_fwd_iterator: public _base_iterator { /* i don't know why the beautifier is freaking out on this line */
- public:
- _const_fwd_iterator() {}
-! _const_fwd_iterator( const _const_fwd_iterator& i ) {
- _become( i );
- }
- _const_fwd_iterator( const _fwd_iterator& i ) {
---- 418,424 ----
- class _const_fwd_iterator: public _base_iterator { /* i don't know why the beautifier is freaking out on this line */
- public:
- _const_fwd_iterator() {}
-! _const_fwd_iterator( const _const_fwd_iterator& i ) : _base_iterator() {
- _become( i );
- }
- _const_fwd_iterator( const _fwd_iterator& i ) {
-***************
-*** 566,572 ****
- friend class _const_rev_iterator;
- public:
- _rev_iterator() {}
-! _rev_iterator( const _rev_iterator& i ) {
- _become( i );
- }
-
---- 566,572 ----
- friend class _const_rev_iterator;
- public:
- _rev_iterator() {}
-! _rev_iterator( const _rev_iterator& i ) : _base_iterator() {
- _become( i );
- }
-
-***************
-*** 675,681 ****
- class _const_rev_iterator: public _base_iterator { /* i don't know why the beautifier is freaking out on this line */
- public:
- _const_rev_iterator() {}
-! _const_rev_iterator( const _const_rev_iterator& i ) {
- _become( i );
- }
- _const_rev_iterator( const _rev_iterator& i ) {
---- 675,681 ----
- class _const_rev_iterator: public _base_iterator { /* i don't know why the beautifier is freaking out on this line */
- public:
- _const_rev_iterator() {}
-! _const_rev_iterator( const _const_rev_iterator& i ) : _base_iterator() {
- _become( i );
- }
- _const_rev_iterator( const _rev_iterator& i ) {
-***************
-*** 2403,2406 ****
-
- #endif // OGRE_UNICODE_SUPPORT
-
-! #endif
---- 2403,2406 ----
-
- #endif // OGRE_UNICODE_SUPPORT
-
-! #endif
Property changes on: pkg/trunk/visualization_core/ogre_tools
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools:15739-15794,15797-15820,15822-15839,15852-15870
/pkg/branches/josh/visualization_scratch/ogre_tools:14041-14418
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008
/pkg/branches/josh/visualization_scratch/ogre_tools:14041-14418
Property changes on: pkg/trunk/visualization_core/ogre_tools/media
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/media:15739-15794,15797-15820,15822-15839,15852-15870
/pkg/branches/josh/visualization_scratch/ogre_tools/media:14041-14418
/pkg/trunk/visualization/ogre_tools/media:2217-8463
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/media:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008
/pkg/branches/josh/visualization_scratch/ogre_tools/media:14041-14418
/pkg/trunk/visualization/ogre_tools/media:2217-8463
Property changes on: pkg/trunk/visualization_core/ogre_tools/src/stl_to_mesh
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/src/stl_to_mesh:15739-15794,15797-15820,15822-15839,15852-15870
/pkg/branches/josh/visualization_scratch/ogre_tools/src/stl_to_mesh:14041-14418
/pkg/trunk/visualization/ogre_tools/src/stl_to_mesh:2217-2818
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/src/stl_to_mesh:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008
/pkg/branches/josh/visualization_scratch/ogre_tools/src/stl_to_mesh:14041-14418
/pkg/trunk/visualization/ogre_tools/src/stl_to_mesh:2217-2818
Property changes on: pkg/trunk/visualization_core/ogre_tools/test
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/test:15739-15794,15797-15820,15822-15839,15852-15870
/pkg/branches/josh/visualization_scratch/ogre_tools/test:14041-14418
/pkg/trunk/visualization/ogre_tools/test:2217-3599
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/test:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008
/pkg/branches/josh/visualization_scratch/ogre_tools/test:14041-14418
/pkg/trunk/visualization/ogre_tools/test:2217-3599
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <hsu...@us...> - 2009-05-29 20:03:14
|
Revision: 16388
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16388&view=rev
Author: hsujohnhsu
Date: 2009-05-29 20:03:07 +0000 (Fri, 29 May 2009)
Log Message:
-----------
Merging from branch:
svn merge -r 16009:16016 https://personalrobots.svn.sf.net/svnroot/personalrobots/pkg/branches/gazebo-branch-merge .
Added Paths:
-----------
pkg/trunk/simulators/opende/Makefile.gcc
pkg/trunk/simulators/opende/Makefile.intel
Property Changed:
----------------
pkg/trunk/
pkg/trunk/robot_descriptions/gazebo_robot_description/Media/
pkg/trunk/visualization/
pkg/trunk/visualization/rviz/src/rviz/generated/rviz_generated.i
pkg/trunk/visualization/rviz/src/rviz/properties/forwards.h
pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp
pkg/trunk/visualization/rviz/src/rviz/robot/robot.h
pkg/trunk/visualization_core/ogre_tools/
pkg/trunk/visualization_core/ogre_tools/media/
pkg/trunk/visualization_core/ogre_tools/src/stl_to_mesh/
pkg/trunk/visualization_core/ogre_tools/test/
Property changes on: pkg/trunk
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008
+ /pkg/branches/gazebo-branch-merge:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016
Property changes on: pkg/trunk/robot_descriptions/gazebo_robot_description/Media
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/robot_descriptions/gazebo_robot_description/Media:15797-15820,15822-15839,15852-15870,15983-16008
+ /pkg/branches/gazebo-branch-merge/robot_descriptions/gazebo_robot_description/Media:15797-15820,15822-15839,15852-15870,15983-16008,16010-16016
Copied: pkg/trunk/simulators/opende/Makefile.gcc (from rev 16016, pkg/branches/gazebo-branch-merge/simulators/opende/Makefile.gcc)
===================================================================
--- pkg/trunk/simulators/opende/Makefile.gcc (rev 0)
+++ pkg/trunk/simulators/opende/Makefile.gcc 2009-05-29 20:03:07 UTC (rev 16388)
@@ -0,0 +1,52 @@
+# change the next flag to 'no' if drawstuff is not to be built
+WITH_DRAWSTUFF = yes
+
+CFG_OPTIONS = --with-arch=nocona --enable-release --disable-asserts --with-pic #--enable-double-precision
+SVN_REVISION = -r 1669
+
+SVN_PATCH = opende_patch.diff
+
+ifeq ($(WITH_DRAWSTUFF), yes)
+CFG_OPTIONS += --with-drawstuff=X11
+endif
+
+all: installed
+
+ROOT = $(shell rospack find opende)/opende
+
+SVN_DIR = opende-svn
+SVN_URL = https://opende.svn.sourceforge.net/svnroot/opende/trunk
+include $(shell rospack find mk)/svn_checkout.mk
+
+#ipo breaks build, e.g. ipo: warning #11043: unresolved dsPrint, change to ip
+INTEL_OPTIONS = CC='/opt/intel/cc/10.1.008/bin/icc' CXX='/opt/intel/cc/10.1.008/bin/icpc' LD='/opt/intel/cc/10.1.008/bin/xild'
+INTEL_C_FLAGS = CXXFLAGS='-march=core2 -msse3 -ip -no-prec-div -parallel -O3 -fPIC -I$(ROOT)/include' CFLAGS='-march=core2 -msse3 -ip -no-prec-div -parallel -O3 -fPIC -I$(ROOT)/include -I$(ROOT)/usr/include'
+INTEL_C_FLAGS_OMP = CXXFLAGS='-march=core2 -msse3 -ip -no-prec-div -openmp -parallel -O3 -fPIC -I$(ROOT)/include' CFLAGS='-march=core2 -msse3 -ip -no-prec-div -openmp -parallel -O3 -fPIC -I$(ROOT)/include -I$(ROOT)/usr/include'
+
+INTEL_LD_FLAGS = LDFLAGS='-Wl,-rpath,/opt/intel/cc/10.1.008/lib,-rpath,$(ROOT)/lib -L/opt/intel/cc/10.1.008/lib -L$(ROOT)/lib -lguide -lcxaguard -limf -lsvml -lirc -lpthread -lintlc'
+INTEL_LD_FLAGS_OMP = LDFLAGS='-Wl,-rpath,/opt/intel/cc/10.1.008/lib,-rpath,$(ROOT)/lib -L/opt/intel/cc/10.1.008/lib -L$(ROOT)/lib -lguide -lcxaguard -limf -lsvml -lirc -lpthread -lintlc -lompstub -liomp5 -lomp_db'
+
+GCC_FLAGS = CXXFLAGS='-DNDEBUG -O3 -fPIC -I$(ROOT)/include' CFLAGS='-DNDEBUG -O3 -fPIC -I$(ROOT)/include -I$(ROOT)/usr/include' LDFLAGS='-L$(ROOT)/lib'
+
+#CONFIGURE_FLAGS = $(CFG_OPTIONS) $(INTEL_OPTIONS) $(INTEL_C_FLAGS) $(INTEL_LD_FLAGS)
+CONFIGURE_FLAGS = $(CFG_OPTIONS) $(GCC_FLAGS)
+
+
+installed: $(SVN_DIR) patched
+ cd $(SVN_DIR) && sh ./autogen.sh
+ cd $(SVN_DIR) && ./configure --prefix=$(ROOT) --with-trimesh=opcode --enable-new-trimesh --enable-shared $(CONFIGURE_FLAGS)
+ cd $(SVN_DIR) && make $(ROS_PARALLEL_JOBS)
+ cd $(SVN_DIR) && make install
+ @echo "patch ode-config to pass -Wl,-rpath,-L{exec_prefix}/lib"
+ sed 's/echo -L$${exec_prefix}\/lib -lode/echo -Wl,-rpath,$${exec_prefix}\/lib -L$${exec_prefix}\/lib -lode/g' opende-svn/ode-config > opende/bin/ode-config
+ #sed 's/echo -L$${exec_prefix}\/lib -lode/echo -Wl,-rpath,$${exec_prefix}\/lib -L$${exec_prefix}\/lib -lode -Wl,-rpath,\/opt\/intel\/cc\/10.1.008\/lib -L\/opt\/intel\/cc\/10.1.008\/lib -lguide -lcxaguard -limf -lsvml -lirc -lpthread/g' opende-svn/ode-config > opende/bin/ode-config
+ @echo "patch ode.pc to pass -Wl,-rpath,-L{libdir}"
+ sed 's/Libs: -L$${libdir} -lode/Libs: -Wl,-rpath,$${libdir} -L$${libdir} -lode/g' opende-svn/ode.pc > opende/lib/pkgconfig/ode.pc
+ #sed 's/Libs: -L$${libdir} -lode/Libs: -Wl,-rpath,$${libdir} -L$${libdir} -lode -Wl,-rpath,\/opt\/intel\/cc\/10.1.008\/lib -L\/opt\/intel\/cc\/10.1.008\/lib -lguide -lcxaguard -limf -lsvml -lirc -lpthread/g' opende-svn/ode.pc > opende/lib/pkgconfig/ode.pc
+ touch installed
+
+clean:
+ -cd $(SVN_DIR) && make clean
+ rm -rf opende installed
+wipe: clean
+ rm -rf $(SVN_DIR)
Copied: pkg/trunk/simulators/opende/Makefile.intel (from rev 16016, pkg/branches/gazebo-branch-merge/simulators/opende/Makefile.intel)
===================================================================
--- pkg/trunk/simulators/opende/Makefile.intel (rev 0)
+++ pkg/trunk/simulators/opende/Makefile.intel 2009-05-29 20:03:07 UTC (rev 16388)
@@ -0,0 +1,50 @@
+# change the next flag to 'no' if drawstuff is not to be built
+WITH_DRAWSTUFF = yes
+
+CFG_OPTIONS = --with-arch=nocona --enable-release --disable-asserts --with-pic #--enable-double-precision
+SVN_REVISION = -r 1669
+
+SVN_PATCH = opende_patch.diff
+
+ifeq ($(WITH_DRAWSTUFF), yes)
+CFG_OPTIONS += --with-drawstuff=X11
+endif
+
+all: installed
+
+ROOT = $(shell rospack find opende)/opende
+
+SVN_DIR = opende-svn
+SVN_URL = https://opende.svn.sourceforge.net/svnroot/opende/trunk
+include $(shell rospack find mk)/svn_checkout.mk
+
+#ipo breaks build, e.g. ipo: warning #11043: unresolved dsPrint, change to ip
+INTEL_OPTIONS = CC='/opt/intel/cc/10.1.008/bin/icc' CXX='/opt/intel/cc/10.1.008/bin/icpc' LD='/opt/intel/cc/10.1.008/bin/xild'
+INTEL_C_FLAGS = CXXFLAGS='-march=core2 -msse3 -ip -no-prec-div -parallel -O3 -fPIC -I$(ROOT)/include' CFLAGS='-march=core2 -msse3 -ip -no-prec-div -parallel -O3 -fPIC -I$(ROOT)/include -I$(ROOT)/usr/include'
+INTEL_C_FLAGS_OMP = CXXFLAGS='-march=core2 -msse3 -ip -no-prec-div -openmp -parallel -O3 -fPIC -I$(ROOT)/include' CFLAGS='-march=core2 -msse3 -ip -no-prec-div -openmp -parallel -O3 -fPIC -I$(ROOT)/include -I$(ROOT)/usr/include'
+
+INTEL_LD_FLAGS = LDFLAGS='-Wl,-rpath,/opt/intel/cc/10.1.008/lib,-rpath,$(ROOT)/lib -L/opt/intel/cc/10.1.008/lib -L$(ROOT)/lib -lguide -lcxaguard -limf -lsvml -lirc -lpthread -lintlc'
+INTEL_LD_FLAGS_OMP = LDFLAGS='-Wl,-rpath,/opt/intel/cc/10.1.008/lib,-rpath,$(ROOT)/lib -L/opt/intel/cc/10.1.008/lib -L$(ROOT)/lib -lguide -lcxaguard -limf -lsvml -lirc -lpthread -lintlc -lompstub -liomp5 -lomp_db'
+
+GCC_FLAGS = CXXFLAGS='-DNDEBUG -O3 -fPIC -I$(ROOT)/include' CFLAGS='-DNDEBUG -O3 -fPIC -I$(ROOT)/include -I$(ROOT)/usr/include' LDFLAGS='-L$(ROOT)/lib'
+
+CONFIGURE_FLAGS = $(CFG_OPTIONS) $(INTEL_OPTIONS) $(INTEL_C_FLAGS) $(INTEL_LD_FLAGS)
+#CONFIGURE_FLAGS = $(CFG_OPTIONS) $(GCC_FLAGS)
+
+
+installed: $(SVN_DIR) patched
+ cd $(SVN_DIR) && sh ./autogen.sh
+ cd $(SVN_DIR) && ./configure --prefix=$(ROOT) --with-trimesh=opcode --enable-new-trimesh --enable-shared $(CONFIGURE_FLAGS)
+ cd $(SVN_DIR) && make $(ROS_PARALLEL_JOBS)
+ cd $(SVN_DIR) && make install
+ @echo "patch ode-config to pass -Wl,-rpath,-L{exec_prefix}/lib"
+ sed 's/echo -L$${exec_prefix}\/lib -lode/echo -Wl,-rpath,$${exec_prefix}\/lib -L$${exec_prefix}\/lib -lode -Wl,-rpath,\/opt\/intel\/cc\/10.1.008\/lib -L\/opt\/intel\/cc\/10.1.008\/lib -lguide -lcxaguard -limf -lsvml -lirc -lpthread/g' opende-svn/ode-config > opende/bin/ode-config
+ @echo "patch ode.pc to pass -Wl,-rpath,-L{libdir}"
+ sed 's/Libs: -L$${libdir} -lode/Libs: -Wl,-rpath,$${libdir} -L$${libdir} -lode -Wl,-rpath,\/opt\/intel\/cc\/10.1.008\/lib -L\/opt\/intel\/cc\/10.1.008\/lib -lguide -lcxaguard -limf -lsvml -lirc -lpthread/g' opende-svn/ode.pc > opende/lib/pkgconfig/ode.pc
+ touch installed
+
+clean:
+ -cd $(SVN_DIR) && make clean
+ rm -rf opende installed
+wipe: clean
+ rm -rf $(SVN_DIR)
Property changes on: pkg/trunk/visualization
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008
/pkg/branches/josh/rviz_selection:12152-13640
/pkg/branches/josh/visualization_scratch:14041-14428
+ /pkg/branches/gazebo-branch-merge/visualization:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016
/pkg/branches/josh/rviz_selection:12152-13640
/pkg/branches/josh/visualization_scratch:14041-14428
Property changes on: pkg/trunk/visualization/rviz/src/rviz/generated/rviz_generated.i
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/generated/rviz_generated.i:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/generated/rviz_generated.i:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/generated/visualization_panel_generated.i:12189
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/generated/rviz_generated.i:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/generated/rviz_generated.i:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/generated/visualization_panel_generated.i:12189
Property changes on: pkg/trunk/visualization/rviz/src/rviz/properties/forwards.h
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/properties/forwards.h:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/properties/forwards.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/properties/property_forwards.h:12189,12408-12643,12667
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/properties/forwards.h:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/properties/forwards.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/properties/property_forwards.h:12189,12408-12643,12667
Property changes on: pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.cpp:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.cpp:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp:497-13654
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.cpp:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.cpp:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp:497-13654
Property changes on: pkg/trunk/visualization/rviz/src/rviz/robot/robot.h
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.h:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.h:497-13654
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.h:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.h:497-13654
Property changes on: pkg/trunk/visualization_core/ogre_tools
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008
/pkg/branches/josh/visualization_scratch/ogre_tools:14041-14418
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016
/pkg/branches/josh/visualization_scratch/ogre_tools:14041-14418
Property changes on: pkg/trunk/visualization_core/ogre_tools/media
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/media:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008
/pkg/branches/josh/visualization_scratch/ogre_tools/media:14041-14418
/pkg/trunk/visualization/ogre_tools/media:2217-8463
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/media:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016
/pkg/branches/josh/visualization_scratch/ogre_tools/media:14041-14418
/pkg/trunk/visualization/ogre_tools/media:2217-8463
Property changes on: pkg/trunk/visualization_core/ogre_tools/src/stl_to_mesh
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/src/stl_to_mesh:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008
/pkg/branches/josh/visualization_scratch/ogre_tools/src/stl_to_mesh:14041-14418
/pkg/trunk/visualization/ogre_tools/src/stl_to_mesh:2217-2818
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/src/stl_to_mesh:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016
/pkg/branches/josh/visualization_scratch/ogre_tools/src/stl_to_mesh:14041-14418
/pkg/trunk/visualization/ogre_tools/src/stl_to_mesh:2217-2818
Property changes on: pkg/trunk/visualization_core/ogre_tools/test
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/test:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008
/pkg/branches/josh/visualization_scratch/ogre_tools/test:14041-14418
/pkg/trunk/visualization/ogre_tools/test:2217-3599
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/test:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016
/pkg/branches/josh/visualization_scratch/ogre_tools/test:14041-14418
/pkg/trunk/visualization/ogre_tools/test:2217-3599
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <hsu...@us...> - 2009-05-29 20:06:58
|
Revision: 16389
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16389&view=rev
Author: hsujohnhsu
Date: 2009-05-29 20:06:40 +0000 (Fri, 29 May 2009)
Log Message:
-----------
Merging from branch:
svn merge -r 16128:16141 https://personalrobots.svn.sf.net/svnroot/personalrobots/pkg/branches/gazebo-branch-merge .
Property Changed:
----------------
pkg/trunk/
pkg/trunk/robot_descriptions/gazebo_robot_description/Media/
pkg/trunk/visualization/
pkg/trunk/visualization/rviz/src/rviz/generated/rviz_generated.i
pkg/trunk/visualization/rviz/src/rviz/properties/forwards.h
pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp
pkg/trunk/visualization/rviz/src/rviz/robot/robot.h
pkg/trunk/visualization_core/ogre_tools/
pkg/trunk/visualization_core/ogre_tools/media/
pkg/trunk/visualization_core/ogre_tools/src/stl_to_mesh/
pkg/trunk/visualization_core/ogre_tools/test/
Property changes on: pkg/trunk
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016
+ /pkg/branches/gazebo-branch-merge:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141
Property changes on: pkg/trunk/robot_descriptions/gazebo_robot_description/Media
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/robot_descriptions/gazebo_robot_description/Media:15797-15820,15822-15839,15852-15870,15983-16008,16010-16016
+ /pkg/branches/gazebo-branch-merge/robot_descriptions/gazebo_robot_description/Media:15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141
Property changes on: pkg/trunk/visualization
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016
/pkg/branches/josh/rviz_selection:12152-13640
/pkg/branches/josh/visualization_scratch:14041-14428
+ /pkg/branches/gazebo-branch-merge/visualization:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141
/pkg/branches/josh/rviz_selection:12152-13640
/pkg/branches/josh/visualization_scratch:14041-14428
Property changes on: pkg/trunk/visualization/rviz/src/rviz/generated/rviz_generated.i
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/generated/rviz_generated.i:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/generated/rviz_generated.i:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/generated/visualization_panel_generated.i:12189
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/generated/rviz_generated.i:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/generated/rviz_generated.i:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/generated/visualization_panel_generated.i:12189
Property changes on: pkg/trunk/visualization/rviz/src/rviz/properties/forwards.h
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/properties/forwards.h:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/properties/forwards.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/properties/property_forwards.h:12189,12408-12643,12667
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/properties/forwards.h:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/properties/forwards.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/properties/property_forwards.h:12189,12408-12643,12667
Property changes on: pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.cpp:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.cpp:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp:497-13654
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.cpp:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.cpp:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp:497-13654
Property changes on: pkg/trunk/visualization/rviz/src/rviz/robot/robot.h
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.h:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.h:497-13654
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.h:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.h:497-13654
Property changes on: pkg/trunk/visualization_core/ogre_tools
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016
/pkg/branches/josh/visualization_scratch/ogre_tools:14041-14418
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141
/pkg/branches/josh/visualization_scratch/ogre_tools:14041-14418
Property changes on: pkg/trunk/visualization_core/ogre_tools/media
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/media:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016
/pkg/branches/josh/visualization_scratch/ogre_tools/media:14041-14418
/pkg/trunk/visualization/ogre_tools/media:2217-8463
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/media:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141
/pkg/branches/josh/visualization_scratch/ogre_tools/media:14041-14418
/pkg/trunk/visualization/ogre_tools/media:2217-8463
Property changes on: pkg/trunk/visualization_core/ogre_tools/src/stl_to_mesh
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/src/stl_to_mesh:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016
/pkg/branches/josh/visualization_scratch/ogre_tools/src/stl_to_mesh:14041-14418
/pkg/trunk/visualization/ogre_tools/src/stl_to_mesh:2217-2818
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/src/stl_to_mesh:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141
/pkg/branches/josh/visualization_scratch/ogre_tools/src/stl_to_mesh:14041-14418
/pkg/trunk/visualization/ogre_tools/src/stl_to_mesh:2217-2818
Property changes on: pkg/trunk/visualization_core/ogre_tools/test
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/test:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016
/pkg/branches/josh/visualization_scratch/ogre_tools/test:14041-14418
/pkg/trunk/visualization/ogre_tools/test:2217-3599
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/test:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141
/pkg/branches/josh/visualization_scratch/ogre_tools/test:14041-14418
/pkg/trunk/visualization/ogre_tools/test:2217-3599
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <hsu...@us...> - 2009-05-29 20:09:37
|
Revision: 16390
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16390&view=rev
Author: hsujohnhsu
Date: 2009-05-29 20:09:26 +0000 (Fri, 29 May 2009)
Log Message:
-----------
Merging from branch:
svn merge -r 16144:16169 https://personalrobots.svn.sf.net/svnroot/personalrobots/pkg/branches/gazebo-branch-merge .
Property Changed:
----------------
pkg/trunk/
pkg/trunk/robot_descriptions/gazebo_robot_description/Media/
pkg/trunk/visualization/
pkg/trunk/visualization/rviz/src/rviz/generated/rviz_generated.i
pkg/trunk/visualization/rviz/src/rviz/properties/forwards.h
pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp
pkg/trunk/visualization/rviz/src/rviz/robot/robot.h
pkg/trunk/visualization_core/ogre_tools/
pkg/trunk/visualization_core/ogre_tools/media/
pkg/trunk/visualization_core/ogre_tools/src/stl_to_mesh/
pkg/trunk/visualization_core/ogre_tools/test/
Property changes on: pkg/trunk
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141
+ /pkg/branches/gazebo-branch-merge:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169
Property changes on: pkg/trunk/robot_descriptions/gazebo_robot_description/Media
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/robot_descriptions/gazebo_robot_description/Media:15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141
+ /pkg/branches/gazebo-branch-merge/robot_descriptions/gazebo_robot_description/Media:15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169
Property changes on: pkg/trunk/visualization
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141
/pkg/branches/josh/rviz_selection:12152-13640
/pkg/branches/josh/visualization_scratch:14041-14428
+ /pkg/branches/gazebo-branch-merge/visualization:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169
/pkg/branches/josh/rviz_selection:12152-13640
/pkg/branches/josh/visualization_scratch:14041-14428
Property changes on: pkg/trunk/visualization/rviz/src/rviz/generated/rviz_generated.i
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/generated/rviz_generated.i:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/generated/rviz_generated.i:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/generated/visualization_panel_generated.i:12189
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/generated/rviz_generated.i:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/generated/rviz_generated.i:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/generated/visualization_panel_generated.i:12189
Property changes on: pkg/trunk/visualization/rviz/src/rviz/properties/forwards.h
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/properties/forwards.h:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/properties/forwards.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/properties/property_forwards.h:12189,12408-12643,12667
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/properties/forwards.h:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/properties/forwards.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/properties/property_forwards.h:12189,12408-12643,12667
Property changes on: pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.cpp:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.cpp:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp:497-13654
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.cpp:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.cpp:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp:497-13654
Property changes on: pkg/trunk/visualization/rviz/src/rviz/robot/robot.h
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.h:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.h:497-13654
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.h:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.h:497-13654
Property changes on: pkg/trunk/visualization_core/ogre_tools
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141
/pkg/branches/josh/visualization_scratch/ogre_tools:14041-14418
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169
/pkg/branches/josh/visualization_scratch/ogre_tools:14041-14418
Property changes on: pkg/trunk/visualization_core/ogre_tools/media
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/media:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141
/pkg/branches/josh/visualization_scratch/ogre_tools/media:14041-14418
/pkg/trunk/visualization/ogre_tools/media:2217-8463
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/media:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169
/pkg/branches/josh/visualization_scratch/ogre_tools/media:14041-14418
/pkg/trunk/visualization/ogre_tools/media:2217-8463
Property changes on: pkg/trunk/visualization_core/ogre_tools/src/stl_to_mesh
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/src/stl_to_mesh:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141
/pkg/branches/josh/visualization_scratch/ogre_tools/src/stl_to_mesh:14041-14418
/pkg/trunk/visualization/ogre_tools/src/stl_to_mesh:2217-2818
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/src/stl_to_mesh:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169
/pkg/branches/josh/visualization_scratch/ogre_tools/src/stl_to_mesh:14041-14418
/pkg/trunk/visualization/ogre_tools/src/stl_to_mesh:2217-2818
Property changes on: pkg/trunk/visualization_core/ogre_tools/test
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/test:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141
/pkg/branches/josh/visualization_scratch/ogre_tools/test:14041-14418
/pkg/trunk/visualization/ogre_tools/test:2217-3599
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/test:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169
/pkg/branches/josh/visualization_scratch/ogre_tools/test:14041-14418
/pkg/trunk/visualization/ogre_tools/test:2217-3599
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <hsu...@us...> - 2009-05-29 20:19:39
|
Revision: 16393
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16393&view=rev
Author: hsujohnhsu
Date: 2009-05-29 20:19:29 +0000 (Fri, 29 May 2009)
Log Message:
-----------
Merging from branch:
svn merge -r 16244:16262 https://personalrobots.svn.sf.net/svnroot/personalrobots/pkg/branches/gazebo-branch-merge .
Property Changed:
----------------
pkg/trunk/
pkg/trunk/robot_descriptions/gazebo_robot_description/Media/
pkg/trunk/visualization/
pkg/trunk/visualization/rviz/src/rviz/generated/rviz_generated.i
pkg/trunk/visualization/rviz/src/rviz/properties/forwards.h
pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp
pkg/trunk/visualization/rviz/src/rviz/robot/robot.h
pkg/trunk/visualization_core/ogre_tools/
pkg/trunk/visualization_core/ogre_tools/media/
pkg/trunk/visualization_core/ogre_tools/src/stl_to_mesh/
pkg/trunk/visualization_core/ogre_tools/test/
Property changes on: pkg/trunk
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169
+ /pkg/branches/gazebo-branch-merge:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
Property changes on: pkg/trunk/robot_descriptions/gazebo_robot_description/Media
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/robot_descriptions/gazebo_robot_description/Media:15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169
+ /pkg/branches/gazebo-branch-merge/robot_descriptions/gazebo_robot_description/Media:15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
Property changes on: pkg/trunk/visualization
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169
/pkg/branches/josh/rviz_selection:12152-13640
/pkg/branches/josh/visualization_scratch:14041-14428
+ /pkg/branches/gazebo-branch-merge/visualization:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/rviz_selection:12152-13640
/pkg/branches/josh/visualization_scratch:14041-14428
Property changes on: pkg/trunk/visualization/rviz/src/rviz/generated/rviz_generated.i
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/generated/rviz_generated.i:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/generated/rviz_generated.i:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/generated/visualization_panel_generated.i:12189
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/generated/rviz_generated.i:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/generated/rviz_generated.i:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/generated/visualization_panel_generated.i:12189
Property changes on: pkg/trunk/visualization/rviz/src/rviz/properties/forwards.h
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/properties/forwards.h:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/properties/forwards.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/properties/property_forwards.h:12189,12408-12643,12667
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/properties/forwards.h:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/properties/forwards.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/properties/property_forwards.h:12189,12408-12643,12667
Property changes on: pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.cpp:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.cpp:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp:497-13654
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.cpp:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.cpp:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp:497-13654
Property changes on: pkg/trunk/visualization/rviz/src/rviz/robot/robot.h
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.h:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.h:497-13654
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.h:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.h:497-13654
Property changes on: pkg/trunk/visualization_core/ogre_tools
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169
/pkg/branches/josh/visualization_scratch/ogre_tools:14041-14418
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/visualization_scratch/ogre_tools:14041-14418
Property changes on: pkg/trunk/visualization_core/ogre_tools/media
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/media:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169
/pkg/branches/josh/visualization_scratch/ogre_tools/media:14041-14418
/pkg/trunk/visualization/ogre_tools/media:2217-8463
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/media:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/visualization_scratch/ogre_tools/media:14041-14418
/pkg/trunk/visualization/ogre_tools/media:2217-8463
Property changes on: pkg/trunk/visualization_core/ogre_tools/src/stl_to_mesh
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/src/stl_to_mesh:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169
/pkg/branches/josh/visualization_scratch/ogre_tools/src/stl_to_mesh:14041-14418
/pkg/trunk/visualization/ogre_tools/src/stl_to_mesh:2217-2818
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/src/stl_to_mesh:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/visualization_scratch/ogre_tools/src/stl_to_mesh:14041-14418
/pkg/trunk/visualization/ogre_tools/src/stl_to_mesh:2217-2818
Property changes on: pkg/trunk/visualization_core/ogre_tools/test
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/test:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169
/pkg/branches/josh/visualization_scratch/ogre_tools/test:14041-14418
/pkg/trunk/visualization/ogre_tools/test:2217-3599
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/test:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/visualization_scratch/ogre_tools/test:14041-14418
/pkg/trunk/visualization/ogre_tools/test:2217-3599
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <hsu...@us...> - 2009-05-29 20:33:54
|
Revision: 16396
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16396&view=rev
Author: hsujohnhsu
Date: 2009-05-29 20:32:53 +0000 (Fri, 29 May 2009)
Log Message:
-----------
Merging from branch:
svn merge -r 15682:15684 https://personalrobots.svn.sf.net/svnroot/personalrobots/pkg/branches/gazebo-branch-merge .
Modified Paths:
--------------
pkg/trunk/3rdparty/opencv_latest/manifest.xml
pkg/trunk/common/bullet/manifest.xml
pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_stereo_camera.h
pkg/trunk/drivers/simulator/gazebo_plugin/manifest.xml
pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_block_laser.cpp
pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_bumper.cpp
pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_camera.cpp
pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_laser.cpp
pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_stereo_camera.cpp
pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2gazebo.cpp
pkg/trunk/motion_planning/navfn/manifest.xml
pkg/trunk/nav/map_server/manifest.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/desk2.model
pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/base_defs.xml
pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/head_defs.xml
pkg/trunk/simulators/gazebo/Makefile
pkg/trunk/simulators/gazebo/manifest.xml
pkg/trunk/visualization/rviz/manifest.xml
pkg/trunk/visualization_core/ogre/Makefile
pkg/trunk/visualization_core/ogre/manifest.xml
Added Paths:
-----------
pkg/trunk/3rdparty/opencv_latest/cmake_2.4.7.patch
Property Changed:
----------------
pkg/trunk/
pkg/trunk/robot_descriptions/gazebo_robot_description/Media/
pkg/trunk/visualization/
pkg/trunk/visualization/rviz/src/rviz/generated/rviz_generated.i
pkg/trunk/visualization/rviz/src/rviz/properties/forwards.h
pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp
pkg/trunk/visualization/rviz/src/rviz/robot/robot.h
pkg/trunk/visualization_core/ogre_tools/
pkg/trunk/visualization_core/ogre_tools/media/
pkg/trunk/visualization_core/ogre_tools/src/stl_to_mesh/
pkg/trunk/visualization_core/ogre_tools/test/
Property changes on: pkg/trunk
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
+ /pkg/branches/gazebo-branch-merge:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
Added: svnmerge-integrated
+ /pkg/trunk:1-15310
Copied: pkg/trunk/3rdparty/opencv_latest/cmake_2.4.7.patch (from rev 15684, pkg/branches/gazebo-branch-merge/3rdparty/opencv_latest/cmake_2.4.7.patch)
===================================================================
--- pkg/trunk/3rdparty/opencv_latest/cmake_2.4.7.patch (rev 0)
+++ pkg/trunk/3rdparty/opencv_latest/cmake_2.4.7.patch 2009-05-29 20:32:53 UTC (rev 16396)
@@ -0,0 +1,38 @@
+Index: src/cv/cvimgwarp.cpp
+===================================================================
+--- src/cv/cvimgwarp.cpp (revision 1734)
++++ src/cv/cvimgwarp.cpp (working copy)
+@@ -2751,7 +2751,8 @@
+ {
+ short* alpha = A + y1*bw;
+ x1 = 0;
+- #if CV_SSE2
++ //#if CV_SSE2
++ #if 0
+ __m128i XX = _mm_set1_epi32(X0), YY = _mm_set1_epi32(Y0);
+ for( ; x1 <= bw - 8; x1 += 8 )
+ {
+Index: CMakeLists.txt
+===================================================================
+--- CMakeLists.txt (revision 1734)
++++ CMakeLists.txt (working copy)
+@@ -221,13 +221,15 @@
+ if (${ALIAS_FOUND})
+ set(${define} 1)
+ foreach(P "${ALIAS_INCLUDE_DIRS}")
+- list(APPEND HIGHGUI_INCLUDE_DIRS ${${P}})
++ if (${P})
++ list(APPEND HIGHGUI_INCLUDE_DIRS ${${P}})
++ endif(${P})
+ endforeach()
+
+ foreach(P "${ALIAS_LIBRARY_DIRS}")
+- if (${${P}})
+- list(APPEND HIGHGUI_LIBRARY_DIRS ${${P}})
+- endif()
++ if (${P})
++ list(APPEND HIGHGUI_LIBRARY_DIRS ${P})
++ endif(${P})
+ endforeach()
+
+ list(APPEND HIGHGUI_LIBRARIES ${${ALIAS_LIBRARIES}})
Modified: pkg/trunk/3rdparty/opencv_latest/manifest.xml
===================================================================
--- pkg/trunk/3rdparty/opencv_latest/manifest.xml 2009-05-29 20:26:47 UTC (rev 16395)
+++ pkg/trunk/3rdparty/opencv_latest/manifest.xml 2009-05-29 20:32:53 UTC (rev 16396)
@@ -18,10 +18,13 @@
<depend package="image_msgs" />
<sysdepend os="ubuntu" version="7.04-feisty" package="libavformat-dev"/>
<sysdepend os="ubuntu" version="8.04-hardy" package="libavformat-dev"/>
+<sysdepend os="ubuntu" version="9.04-jaunty" package="libavformat-dev"/>
<sysdepend os="ubuntu" version="7.04-feisty" package="libavcodec-dev"/>
<sysdepend os="ubuntu" version="8.04-hardy" package="libavcodec-dev"/>
+<sysdepend os="ubuntu" version="9.04-jaunty" package="libavcodec-dev"/>
<sysdepend os="ubuntu" version="7.04-feisty" package="libjasper-1.701-dev"/>
<sysdepend os="ubuntu" version="8.04-hardy" package="libjasper-dev"/>
+<sysdepend os="ubuntu" version="9.04-jaunty" package="libjasper-dev"/>
<sysdepend os="ubuntu" version="7.04-feisty" package="libgraphicsmagick++1-dev"/>
<sysdepend os="ubuntu" version="8.04-hardy" package="libgraphicsmagick++1-dev"/>
<sysdepend os="ubuntu" version="9.04-jaunty" package="libswscale-dev"/>
Modified: pkg/trunk/common/bullet/manifest.xml
===================================================================
--- pkg/trunk/common/bullet/manifest.xml 2009-05-29 20:26:47 UTC (rev 16395)
+++ pkg/trunk/common/bullet/manifest.xml 2009-05-29 20:32:53 UTC (rev 16396)
@@ -9,10 +9,13 @@
<review status="3rdparty" notes=""/>
<url>http://code.google.com/p/bullet/</url>
<depend package="rostest"/>
+<sysdepend os="ubuntu" version="9.04-jaunty" package="libXext-dev"/>
<sysdepend os="ubuntu" version="8.04-hardy" package="libXext-dev"/>
<sysdepend os="ubuntu" version="7.10-gutsy" package="libXext-dev"/>
+<sysdepend os="ubuntu" version="9.04-jaunty" package="libglut3-dev"/>
<sysdepend os="ubuntu" version="8.04-hardy" package="libglut3-dev"/>
<sysdepend os="ubuntu" version="7.10-gutsy" package="libglut3-dev"/>
+<sysdepend os="ubuntu" version="9.04-jaunty" package="swig"/>
<sysdepend os="ubuntu" version="8.04-hardy" package="swig"/>
<sysdepend os="ubuntu" version="7.10-gutsy" package="swig"/>
<rosdep name="libxext"/>
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_stereo_camera.h
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_stereo_camera.h 2009-05-29 20:26:47 UTC (rev 16395)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_stereo_camera.h 2009-05-29 20:32:53 UTC (rev 16396)
@@ -31,7 +31,7 @@
#include <ros/node.h>
#include "boost/thread/mutex.hpp"
-#include <Generic_Camera.hh>
+#include <gazebo/Generic_Camera.hh>
#include <gazebo/gazebo.h>
#include <gazebo/Param.hh>
#include <gazebo/Controller.hh>
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/manifest.xml
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/manifest.xml 2009-05-29 20:26:47 UTC (rev 16395)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/manifest.xml 2009-05-29 20:32:53 UTC (rev 16396)
@@ -30,6 +30,7 @@
<export>
<cpp cflags="-I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib" />
</export>
+ <sysdepend os="ubuntu" version="9.04-jaunty" package="python-numpy"/>
<sysdepend os="ubuntu" version="8.04-hardy" package="python-numpy"/>
<sysdepend os="ubuntu" version="7.10-gutsy" package="python-numpy"/>
</package>
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_block_laser.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_block_laser.cpp 2009-05-29 20:26:47 UTC (rev 16395)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_block_laser.cpp 2009-05-29 20:32:53 UTC (rev 16396)
@@ -39,7 +39,7 @@
#include <gazebo/gazebo.h>
#include <gazebo/GazeboError.hh>
#include <gazebo/ControllerFactory.hh>
-#include <RaySensor.hh>
+#include <gazebo/RaySensor.hh>
using namespace gazebo;
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_bumper.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_bumper.cpp 2009-05-29 20:26:47 UTC (rev 16395)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_bumper.cpp 2009-05-29 20:32:53 UTC (rev 16396)
@@ -26,15 +26,15 @@
#include <gazebo_plugin/ros_bumper.h>
-#include "gazebo/Global.hh"
-#include "gazebo/XMLConfig.hh"
-#include "ContactSensor.hh"
-#include "gazebo/World.hh"
-#include "gazebo/gazebo.h"
-#include "gazebo/GazeboError.hh"
-#include "gazebo/ControllerFactory.hh"
-#include "gazebo/Simulator.hh"
-#include "gazebo/Body.hh"
+#include <gazebo/Global.hh>
+#include <gazebo/XMLConfig.hh>
+#include <gazebo/ContactSensor.hh>
+#include <gazebo/World.hh>
+#include <gazebo/gazebo.h>
+#include <gazebo/GazeboError.hh>
+#include <gazebo/ControllerFactory.hh>
+#include <gazebo/Simulator.hh>
+#include <gazebo/Body.hh>
using namespace gazebo;
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_camera.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_camera.cpp 2009-05-29 20:26:47 UTC (rev 16395)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_camera.cpp 2009-05-29 20:32:53 UTC (rev 16396)
@@ -41,7 +41,7 @@
#include <gazebo/gazebo.h>
#include <gazebo/GazeboError.hh>
#include <gazebo/ControllerFactory.hh>
-#include "MonoCameraSensor.hh"
+#include <gazebo/MonoCameraSensor.hh>
#include "image_msgs/Image.h"
#include "image_msgs/FillImage.h"
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_laser.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_laser.cpp 2009-05-29 20:26:47 UTC (rev 16395)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_laser.cpp 2009-05-29 20:32:53 UTC (rev 16396)
@@ -39,7 +39,7 @@
#include <gazebo/gazebo.h>
#include <gazebo/GazeboError.hh>
#include <gazebo/ControllerFactory.hh>
-#include "RaySensor.hh"
+#include <gazebo/RaySensor.hh>
using namespace gazebo;
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_stereo_camera.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_stereo_camera.cpp 2009-05-29 20:26:47 UTC (rev 16395)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_stereo_camera.cpp 2009-05-29 20:32:53 UTC (rev 16396)
@@ -38,8 +38,8 @@
#include <gazebo/GazeboError.hh>
#include <gazebo/ControllerFactory.hh>
#include <gazebo/Model.hh>
-#include "MonoCameraSensor.hh"
-#include "Body.hh"
+#include <gazebo/MonoCameraSensor.hh>
+#include <gazebo/Body.hh>
#include "image_msgs/Image.h"
#include "image_msgs/FillImage.h"
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2gazebo.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2gazebo.cpp 2009-05-29 20:26:47 UTC (rev 16395)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2gazebo.cpp 2009-05-29 20:32:53 UTC (rev 16396)
@@ -352,7 +352,7 @@
for (int j = 0 ; j < 3 ; ++j)
{
// undo Gazebo's shift of object anchor to geom cg center, stay in body cs
- tmpAnchor[j] = (link->joint->anchor)[j] - (link->inertial->com)[j] - 0*(link->collision->xyz)[j];
+ tmpAnchor[j] = (link->joint->anchor)[j]; // - (link->inertial->com)[j] - 0*(link->collision->xyz)[j];
}
addKeyValue(joint, "anchorOffset", values2str(3, tmpAnchor));
@@ -374,20 +374,20 @@
ROS_WARN("urdf2gazebo: limiting lowStop to <= 0 degrees");
*lowstop = 0.0;
}
- if (*lowstop < -(M_PI))
+ if (*lowstop < -(M_PI)*0.9)
{
- ROS_WARN("urdf2gazebo: limiting lowStop to >= -(180) degrees");
- *lowstop = -(M_PI);
+ ROS_WARN("urdf2gazebo: limiting lowStop to >= -(180)*0.9 degrees");
+ *lowstop = -(M_PI)*0.9;
}
if (*highstop < 0)
{
ROS_WARN("urdf2gazebo: limiting highStop to >= 0 degrees");
*highstop = 0.0;
}
- if (*highstop > (M_PI))
+ if (*highstop > (M_PI)*0.9)
{
- ROS_WARN("urdf2gazebo: limiting highStop to <= (180) degrees");
- *highstop = (M_PI);
+ ROS_WARN("urdf2gazebo: limiting highStop to <= (180)*0.9 degrees");
+ *highstop = (M_PI)*0.9;
}
addKeyValue(joint, "lowStop", values2str(1, link->joint->limit , rad2deg));
addKeyValue(joint, "highStop", values2str(1, link->joint->limit + 1, rad2deg));
Modified: pkg/trunk/motion_planning/navfn/manifest.xml
===================================================================
--- pkg/trunk/motion_planning/navfn/manifest.xml 2009-05-29 20:26:47 UTC (rev 16395)
+++ pkg/trunk/motion_planning/navfn/manifest.xml 2009-05-29 20:32:53 UTC (rev 16396)
@@ -15,6 +15,9 @@
<sysdepend os="ubuntu" version="7.04-feisty" package="libnetpbm10-dev"/>
<sysdepend os="ubuntu" version="8.04-hardy" package="libfltk1.1-dev"/> <!-- actually optional -->
<sysdepend os="ubuntu" version="8.04-hardy" package="libnetpbm10-dev"/>
+ <sysdepend os="ubuntu" version="9.04-jaunty" package="libfltk1.1-dev"/> <!-- actually optional -->
+ <sysdepend os="ubuntu" version="9.04-jaunty" package="libnetpbm10-dev"/>
+
<sysdepend os="osx" package="netpbm"/>
<rosdep name="fltk"/>
<rosdep name="netpbm"/>
Modified: pkg/trunk/nav/map_server/manifest.xml
===================================================================
--- pkg/trunk/nav/map_server/manifest.xml 2009-05-29 20:26:47 UTC (rev 16395)
+++ pkg/trunk/nav/map_server/manifest.xml 2009-05-29 20:32:53 UTC (rev 16396)
@@ -20,13 +20,16 @@
<!-- <depend package="sdl_image"/> -->
<sysdepend os="ubuntu" version="7.04-feisty" package="libsdl-image1.2-dev"/>
<sysdepend os="ubuntu" version="8.04-hardy" package="libsdl-image1.2-dev"/>
+ <sysdepend os="ubuntu" version="9.04-jaunty" package="libsdl-image1.2-dev"/>
<sysdepend os="ubuntu" version="7.04-feisty" package="python-imaging"/>
<sysdepend os="ubuntu" version="8.04-hardy" package="python-imaging"/>
+ <sysdepend os="ubuntu" version="9.04-jaunty" package="python-imaging"/>
<sysdepend package="python-yaml" os="ubuntu" version="7.04-feisty"/>
<sysdepend package="python-yaml" os="ubuntu" version="7.10-gutsy"/>
<sysdepend package="python-yaml" os="ubuntu" version="8.04-hardy"/>
+ <sysdepend package="python-yaml" os="ubuntu" version="9.04-jaunty"/>
<sysdepend package="py25-yaml" os="macports" />
<sysdepend package="PyYAML" os="centos" version="5.2"/>
Property changes on: pkg/trunk/robot_descriptions/gazebo_robot_description/Media
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/robot_descriptions/gazebo_robot_description/Media:15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
+ /pkg/branches/gazebo-branch-merge/robot_descriptions/gazebo_robot_description/Media:15683-15684,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/desk2.model
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/desk2.model 2009-05-29 20:26:47 UTC (rev 16395)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/desk2.model 2009-05-29 20:32:53 UTC (rev 16396)
@@ -5,7 +5,7 @@
<body:box name="desk2">
<xyz>0 0 0.4</xyz>
<rpy>0 0 0</rpy>
- <geom:box name="desk1top_geom">
+ <geom:box name="desk2top_geom">
<kp>100000000.0</kp>
<kd>1.0</kd>
<xyz>0 0 0.8</xyz>
Modified: pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/base_defs.xml
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/base_defs.xml 2009-05-29 20:26:47 UTC (rev 16395)
+++ pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/base_defs.xml 2009-05-29 20:32:53 UTC (rev 16396)
@@ -339,6 +339,7 @@
<minRange>0.05</minRange>
<maxRange>10.0</maxRange>
+ <resRange>0.01</resRange>
<updateRate>20.0</updateRate>
<controller:ros_laser name="ros_base_laser_controller" plugin="libros_laser.so">
<gaussianNoise>0.005</gaussianNoise>
@@ -490,6 +491,7 @@
<minRange>0.05</minRange>
<maxRange>10.0</maxRange>
+ <resRange>0.01</resRange>
<updateRate>20.0</updateRate>
<controller:ros_laser name="ros_base_laser_controller" plugin="libros_laser.so">
<gaussianNoise>0.005</gaussianNoise>
Modified: pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/head_defs.xml
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/head_defs.xml 2009-05-29 20:26:47 UTC (rev 16395)
+++ pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/head_defs.xml 2009-05-29 20:32:53 UTC (rev 16396)
@@ -98,6 +98,7 @@
<minRange>0.05</minRange>
<maxRange>10.0</maxRange>
+ <resRange>0.01</resRange>
<updateRate>20.0</updateRate>
<controller:ros_laser name="ros_${name}_controller" plugin="libros_laser.so">
<gaussianNoise>0.005</gaussianNoise>
@@ -216,14 +217,14 @@
<map name="gazebo_material" flag="gazebo">
<elem key="material" value="PR2/Blue" />
</map>
- <geometry name="${name}_r_stereo_camera_visual">
+ <geometry name="${name}_l_stereo_camera_visual">
<mesh scale="0.01 0.01 0.01" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
- <geometry name="${name}_r_stereo_camera_collision">
+ <geometry name="${name}_l_stereo_camera_collision">
<box size="0.01 0.01 0.01" />
</geometry>
</collision>
@@ -572,6 +573,7 @@
<minRange>0.05</minRange>
<maxRange>10.0</maxRange>
+ <resRange>0.01</resRange>
<updateRate>20.0</updateRate>
<controller:ros_laser name="ros_${name}_controller" plugin="libros_laser.so">
<gaussianNoise>0.005</gaussianNoise>
Modified: pkg/trunk/simulators/gazebo/Makefile
===================================================================
--- pkg/trunk/simulators/gazebo/Makefile 2009-05-29 20:26:47 UTC (rev 16395)
+++ pkg/trunk/simulators/gazebo/Makefile 2009-05-29 20:32:53 UTC (rev 16396)
@@ -1,72 +1,69 @@
all: installed
-SVN_DIR = gazebo-svn-ogre-v1.4.9
-#SVN_URL = https://playerstage.svn.sourceforge.net/svnroot/playerstage/code/gazebo/trunk
-SVN_URL = https://playerstage.svn.sourceforge.net/svnroot/playerstage/code/gazebo/branches/ogre-1.4.9
-SVN_REVISION = -r 7599
-SVN_PATCH = gazebo_patch.diff
+INSTALL_DIR = $(shell rospack find gazebo)/gazebo
+TEST_INSTALL_DIR = $(shell rospack find gazebo)/test-gazebo
+
+SVN_DIR = gazebo-svn
+SVN_URL = https://playerstage.svn.sourceforge.net/svnroot/playerstage/code/gazebo/trunk
+SVN_REVISION =
+SVN_PATCH =
include $(shell rospack find mk)/svn_checkout.mk
+#SVN_URL = https://playerstage.svn.sourceforge.net/svnroot/playerstage/code/gazebo/branches/ogre-1.4.9
+#SVN_REVISION = -r 7599
+#SVN_PATCH = gazebo_patch.diff
+
OGRE_PKG = $(shell rospack find ogre)/ogre/lib/pkgconfig
PLAYER_PKG = $(shell rospack find player)/player/lib/pkgconfig
-FI_PKG = $(shell rospack find freeimage)/freeimage/lib/pkgconfig
ODE_PKG = $(shell rospack find opende)/opende/lib/pkgconfig
-CV_PKG = $(shell rospack find opencv_latest)/opencv/lib/pkgconfig
-
ODE_PATH = $(shell rospack find opende)/opende/bin
-FI_LD = $(shell rospack find freeimage)/freeimage/lib
-ROOT = $(shell rospack find gazebo)/gazebo
-TESTROOT = $(shell rospack find gazebo)/test-gazebo
-BOOST_CFLAGS = $(shell rosboost-cfg --cflags)
-BOOST_LFLAGS = $(shell rosboost-cfg --lflags signals,thread)
+FREEIMAGE_INCLUDE_DIR = $(shell rospack find freeimage)/freeimage/include
+FREEIMAGE_LIBRARY_DIR = $(shell rospack find freeimage)/freeimage/lib
+FREEIMAGE_LIBRARY = $(shell rospack find freeimage)/freeimage/lib/libfreeimage.so
-# these flags used to build opende
-# ipo seems to break ogre and opende, use ip instead
-#INTEL_OPTIONS = CC='/opt/intel/cc/10.1.008/bin/icc' CXX='/opt/intel/cc/10.1.008/bin/icpc' LD='/opt/intel/cc/10.1.008/bin/xild'
-INTEL_C_FLAGS = -march=core2 -msse3 -ip -no-prec-div -parallel -O3 -fPIC -I$(ROOT)/include
-INTEL_C_FLAGS_OMP = -march=core2 -msse3 -ip -no-prec-div -openmp -parallel -O3 -fPIC -I$(ROOT)/include
-INTEL_LD_FLAGS = -Wl,-rpath,/opt/intel/cc/10.1.008/lib,-rpath,$(ROOT)/lib -L/opt/intel/cc/10.1.008/lib -L$(ROOT)/lib -lguide -lcxaguard -limf -lsvml -lirc -pthread -lintlc
-INTEL_LD_FLAGS_OMP = -Wl,-rpath,/opt/intel/cc/10.1.008/lib,-rpath,$(ROOT)/lib -L/opt/intel/cc/10.1.008/lib -L$(ROOT)/lib -lguide -lcxaguard -limf -lsvml -lirc -pthread -lintlc -lompstub -liomp5 -lomp_db
+BOOST_INCLUDE_DIRS = $(shell rosboost-cfg --include_dirs)
+BOOST_LIBRARY_DIRS = $(shell rosboost-cfg --lib_dirs signals,thread)
+BOOST_LIBRARIES = $(shell rosboost-cfg --libs signals,thread)
-#build: SVN_UP_REVERT_PATCH gazebo
-installed: $(SVN_DIR) patched
- if [ ! -d gazebo ]; then mkdir -p gazebo; mkdir -p gazebo/share; mkdir -p gazebo/share/gazebo; mkdir -p gazebo/share/gazebo/worlds; mkdir -p gazebo/share/gazebo/Media; fi
- cd $(SVN_DIR) && PKG_CONFIG_PATH=${CV_PKG}:${ODE_PKG}:${FI_PKG}:${PLAYER_PKG}:${OGRE_PKG}:${PKG_CONFIG_PATH} PATH=${ODE_PATH}:${PATH} \
- scons $(JOBC) $(ROS_PARALLEL_JOBS) mode=optimized prefix=$(ROOT) boost_cflags="$(BOOST_CFLAGS)" boost_lflags="$(BOOST_LFLAGS)"
- -cd $(SVN_DIR) && PKG_CONFIG_PATH=${CV_PKG}:${ODE_PKG}:${FI_PKG}:${PLAYER_PKG}:${OGRE_PKG}:${PKG_CONFIG_PATH} PATH=${ODE_PATH}:${PATH} \
- scons $(JOBC) $(ROS_PARALLEL_JOBS) mode=optimized prefix=$(ROOT) boost_cflags="$(BOOST_CFLAGS)" boost_lflags="$(BOOST_LFLAGS)" install
- -cd $(SVN_DIR) && rm -f gazebo;
- touch installed
+PKG_PATHS = PKG_CONFIG_PATH=${ODE_PKG}:${PLAYER_PKG}:${OGRE_PKG}:${PKG_CONFIG_PATH}
+PATHS = PATH=${ODE_PATH}:${PATH}
-ROOT_ORIG = $(shell rospack find gazebo)/gazebo-original
-SVN_ORIG_DIR = gazebo-svn-original
-.PHONY: gazebo-original
-gazebo-original: $(SVN_ORIG_DIR)
- if [ ! -d gazebo-original ]; then mkdir -p gazebo-original; mkdir -p gazebo-original/share; mkdir -p gazebo-original/share/gazebo/worlds; mkdir -p gazebo-original/share/gazebo; mkdir -p gazebo-original/share/gazebo/Media; fi
- cd $(SVN_ORIG_DIR) && PKG_CONFIG_PATH=${CV_PKG}:${ODE_PKG}:${FI_PKG}:${PLAYER_PKG}:${OGRE_PKG}:${PKG_CONFIG_PATH} PATH=${ODE_PATH}:${PATH} \
- scons prefix=$(ROOT_ORIG)
- -cd $(SVN_ORIG_DIR) && PKG_CONFIG_PATH=${CV_PKG}:${ODE_PKG}:${FI_PKG}:${PLAYER_PKG}:${OGRE_PKG}:${PKG_CONFIG_PATH} PATH=${ODE_PATH}:${PATH} \
- scons prefix=$(ROOT_ORIG) install
- touch gazebo-original
+CMAKE = cmake
+CMAKE_ARGS = -D CMAKE_BUILD_TYPE=RELEASE \
+ -D CMAKE_INSTALL_PREFIX=$(INSTALL_DIR) \
+ -D boost_include_dirs=$(BOOST_INCLUDE_DIRS) \
+ -D boost_library_dirs=$(BOOST_LIBRARY_DIRS) \
+ -D boost_libraries="$(BOOST_LIBRARIES)" \
+ -D freeimage_include_dir=$(FREEIMAGE_INCLUDE_DIR) \
+ -D freeimage_library_dir=$(FREEIMAGE_LIBRARY_DIR) \
+ -D freeimage_library=$(FREEIMAGE_LIBRARY) \
+ -D LIBAVCODEC_PATH="" \
+ -D LIBAVFORMAT_PATH="" \
+ -D CMAKE_CXX_LINK_FLAGS="-lfltk -lfltk_gl"
-test-$(SVN_TARGET):
- @if [ ! -d test-$(SVN_DIR) ]; then svn co $(SVN_REVISION) https://playerstage.svn.sourceforge.net/svnroot/playerstage/code/gazebo/trunk test-$(SVN_DIR); fi
- -cd test-$(SVN_DIR) && svn up #$(REVISION)
- #-patch -N -p0 < gazebo_patch.diff
-test-gazebo: test-$(SVN_TARGET)
- if [ ! -d test-gazebo ]; then mkdir -p test-gazebo; fi
- cd test-$(SVN_DIR) && export PKG_CONFIG_PATH=${PLAYER_PKG}:${OGRE_PKG}:${PKG_CONFIG_PATH} && \
- export LIBPATH="${FI_LD}" && \
- export PATH=${ODE_PATH}/bin:${PATH} && scons prefix=$(TESTROOT) && scons prefix=$(TESTROOT) install
- touch test-gazebo
-# export LD_LIBRARY_PATH="/usr/lib" && \
+CMAKE_CMD = $(PKG_PATHS) $(PATHS) $(CMAKE) $(CMAKE_ARGS)
+#build: SVN_UP_REVERT_PATCH gazebo
+installed: $(SVN_DIR) patched
+ if [ ! -d $(SVN_DIR)/build ]; then mkdir -p $(SVN_DIR)/build; fi
+ cd $(SVN_DIR)/build && $(CMAKE_CMD) ..
+ cd $(SVN_DIR)/build && $(PKG_PATHS) $(PATHS) make $(ROS_PARALLEL_JOBS) && make install
+
clean:
- -cd $(SVN_DIR) && PKG_CONFIG_PATH=${CV_PKG}:${ODE_PKG}:${FI_PKG}:${PLAYER_PKG}:${OGRE_PKG}:${PKG_CONFIG_PATH} PATH=${ODE_PATH}:${PATH} scons --clean
+ -cd $(SVN_DIR) && PKG_CONFIG_PATH=${ODE_PKG}:${PLAYER_PKG}:${OGRE_PKG}:${PKG_CONFIG_PATH} PATH=${ODE_PATH}:${PATH} make clean
rm -rf gazebo installed
wipe: clean
rm -rf $(SVN_DIR) gazebo
+
+# these flags used to build opende
+# ipo seems to break ogre and opende, use ip instead
+#INTEL_OPTIONS = CC='/opt/intel/cc/10.1.008/bin/icc' CXX='/opt/intel/cc/10.1.008/bin/icpc' LD='/opt/intel/cc/10.1.008/bin/xild'
+INTEL_C_FLAGS = -march=core2 -msse3 -ip -no-prec-div -parallel -O3 -fPIC -I$(ROOT)/include
+INTEL_C_FLAGS_OMP = -march=core2 -msse3 -ip -no-prec-div -openmp -parallel -O3 -fPIC -I$(ROOT)/include
+INTEL_LD_FLAGS = -Wl,-rpath,/opt/intel/cc/10.1.008/lib,-rpath,$(ROOT)/lib -L/opt/intel/cc/10.1.008/lib -L$(ROOT)/lib -lguide -lcxaguard -limf -lsvml -lirc -pthread -lintlc
+INTEL_LD_FLAGS_OMP = -Wl,-rpath,/opt/intel/cc/10.1.008/lib,-rpath,$(ROOT)/lib -L/opt/intel/cc/10.1.008/lib -L$(ROOT)/lib -lguide -lcxaguard -limf -lsvml -lirc -pthread -lintlc -lompstub -liomp5 -lomp_db
+
Modified: pkg/trunk/simulators/gazebo/manifest.xml
===================================================================
--- pkg/trunk/simulators/gazebo/manifest.xml 2009-05-29 20:26:47 UTC (rev 16395)
+++ pkg/trunk/simulators/gazebo/manifest.xml 2009-05-29 20:32:53 UTC (rev 16396)
@@ -8,13 +8,24 @@
<review status="3rdparty" notes=""/>
<depend package="opende" />
<depend package="ogre" />
- <depend package="opencv_latest" />
<url>http://playerstage.sf.net</url>
<export>
- <cpp lflags="`xml2-config --libs` -Wl,-rpath,${prefix}/gazebo/lib -L${prefix}/gazebo/lib -lgazebo -lgazeboServer" cflags="`xml2-config --cflags` -I${prefix}/gazebo/include -I${prefix}/gazebo-svn-ogre-v1.4.9/server/controllers -I${prefix}/gazebo-svn-ogre-v1.4.9/server/controllers/camera/generic -I${prefix}/gazebo-svn-ogre-v1.4.9/server/physics -I${prefix}/gazebo-svn-ogre-v1.4.9/server/sensors -I${prefix}/gazebo-svn-ogre-v1.4.9/server/sensors/ray -I${prefix}/gazebo-svn-ogre-v1.4.9/server/sensors/camera -I${prefix}/gazebo-svn-ogre-v1.4.9/server/sensors/contact -I${prefix}/gazebo-svn-ogre-v1.4.9/server -I${prefix}/gazebo-svn-ogre-v1.4.9/server/rendering"/>
+ <cpp lflags="`xml2-config --libs` `rosboost-cfg --lflags thread,signals` -Wl,-rpath,${prefix}/gazebo/lib -L${prefix}/gazebo/lib -lgazebo -lgazebo_server -lgazebo_av -lgazebo_gui -lfltk -lfltk_gl" cflags="`xml2-config --cflags` `rosboost-cfg --cflags` -I${prefix}/gazebo/include"/>
<doxymaker external="http://playerstage.sourceforge.net/doc/Gazebo-manual-svn-html/"/>
</export>
<versioncontrol type="svn" url="https://playerstage.svn.sourceforge.net/svnroot/playerstage/code/gazebo/trunk"/>
+ <sysdepend os="ubuntu" version="9.04-jaunty" package="scons"/>
+ <sysdepend os="ubuntu" version="9.04-jaunty" package="pkg-config"/>
+ <sysdepend os="ubuntu" version="9.04-jaunty" package="libxml2-dev"/>
+ <sysdepend os="ubuntu" version="9.04-jaunty" package="libltdl3-dev"/>
+ <sysdepend os="ubuntu" version="9.04-jaunty" package="libfltk1.1"/>
+ <sysdepend os="ubuntu" version="9.04-jaunty" package="libfltk1.1-dev"/>
+ <sysdepend os="ubuntu" version="8.10-intrepid" package="scons"/>
+ <sysdepend os="ubuntu" version="8.10-intrepid" package="pkg-config"/>
+ <sysdepend os="ubuntu" version="8.10-intrepid" package="libxml2-dev"/>
+ <sysdepend os="ubuntu" version="8.10-intrepid" package="libltdl3-dev"/>
+ <sysdepend os="ubuntu" version="8.10-intrepid" package="libfltk1.1"/>
+ <sysdepend os="ubuntu" version="8.10-intrepid" package="libfltk1.1-dev"/>
<sysdepend os="ubuntu" version="8.04-hardy" package="scons"/>
<sysdepend os="ubuntu" version="8.04-hardy" package="pkg-config"/>
<sysdepend os="ubuntu" version="8.04-hardy" package="libxml2-dev"/>
Property changes on: pkg/trunk/visualization
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization:15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/rviz_selection:12152-13640
/pkg/branches/josh/visualization_scratch:14041-14428
+ /pkg/branches/gazebo-branch-merge/visualization:15683-15684,15739-15794,15797...
[truncated message content] |
|
From: <hsu...@us...> - 2009-05-29 20:39:55
|
Revision: 16397
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16397&view=rev
Author: hsujohnhsu
Date: 2009-05-29 20:39:25 +0000 (Fri, 29 May 2009)
Log Message:
-----------
Merging from branch:
svn merge -r 16273:16334 https://personalrobots.svn.sf.net/svnroot/personalrobots/pkg/branches/gazebo-branch-merge .
Modified Paths:
--------------
pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_camera.h
pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_camera.cpp
pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/head_defs.xml
pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/prosilica_defs.xml
pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/ptz_defs.xml
Property Changed:
----------------
pkg/trunk/
pkg/trunk/robot_descriptions/gazebo_robot_description/Media/
pkg/trunk/visualization/
pkg/trunk/visualization/rviz/src/rviz/generated/rviz_generated.i
pkg/trunk/visualization/rviz/src/rviz/properties/forwards.h
pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp
pkg/trunk/visualization/rviz/src/rviz/robot/robot.h
pkg/trunk/visualization_core/ogre_tools/
pkg/trunk/visualization_core/ogre_tools/media/
pkg/trunk/visualization_core/ogre_tools/src/stl_to_mesh/
pkg/trunk/visualization_core/ogre_tools/test/
Property changes on: pkg/trunk
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
+ /pkg/branches/gazebo-branch-merge:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_camera.h
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_camera.h 2009-05-29 20:32:53 UTC (rev 16396)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_camera.h 2009-05-29 20:39:25 UTC (rev 16397)
@@ -138,6 +138,7 @@
/// \brief size of image buffer
private: int height, width, depth;
+ private: std::string format;
};
/** \} */
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_camera.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_camera.cpp 2009-05-29 20:32:53 UTC (rev 16396)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_camera.cpp 2009-05-29 20:39:25 UTC (rev 16397)
@@ -30,6 +30,7 @@
#include <algorithm>
#include <assert.h>
+#include <boost/thread/thread.hpp>
#include <gazebo_plugin/ros_camera.h>
@@ -107,7 +108,18 @@
// set buffer size
this->width = this->myParent->GetImageWidth();
this->height = this->myParent->GetImageHeight();
- this->depth = 1;
+ this->depth = this->myParent->GetImageDepth();
+ if (this->myParent->GetImageFormat() == "L8")
+ this->format = "mono";
+ else if (this->myParent->GetImageFormat() == "R8G8B8")
+ this->format = "rgb";
+ else if (this->myParent->GetImageFormat() == "B8G8R8")
+ this->format = "bgr";
+ else
+ {
+ ROS_ERROR("Unsupported Gazebo ImageFormat\n");
+ this->format = "rgb";
+ }
}
@@ -138,10 +150,13 @@
{
const unsigned char *src;
+ boost::recursive_mutex::scoped_lock mr_lock(*Simulator::Instance()->GetMRMutex());
+
// Get a pointer to image data
src = this->myParent->GetImageData(0);
- //std::cout << " updating camera " << this->topicName << " " << data->image_size << std::endl;
+ //std::cout << " updating camera " << this->topicName << " " << this->width << std::endl;
+
if (src)
{
//double tmpT0 = Simulator::Instance()->GetWallTime();
@@ -159,9 +174,9 @@
if (this->rosnode->numSubscribers(this->topicName) > 0)
{
// copy from src to imageMsg
- fillImage(this->imageMsg ,"image_raw" ,
- this->height ,this->width ,this->depth,
- "mono" ,"uint8" ,
+ fillImage(this->imageMsg ,"image_raw" ,
+ this->height ,this->width , this->depth,
+ this->format.c_str() ,"uint8" ,
(void*)src );
//tmpT2 = Simulator::Instance()->GetWallTime();
Property changes on: pkg/trunk/robot_descriptions/gazebo_robot_description/Media
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/robot_descriptions/gazebo_robot_description/Media:15683-15684,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
+ /pkg/branches/gazebo-branch-merge/robot_descriptions/gazebo_robot_description/Media:15683-15684,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Modified: pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/head_defs.xml
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/head_defs.xml 2009-05-29 20:32:53 UTC (rev 16396)
+++ pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/head_defs.xml 2009-05-29 20:39:25 UTC (rev 16397)
@@ -232,8 +232,8 @@
<map name="sensor" flag="gazebo">
<verbatim key="sensor_${name}_l_camera">
<sensor:camera name="${name}_l_sensor">
- <imageWidth>640</imageWidth>
- <imageHeight>480</imageHeight>
+ <imageSize>640 480</imageSize>
+ <imageFormat>L8</imageFormat>
<hfov>90</hfov>
<nearClip>0.1</nearClip>
<farClip>100</farClip>
@@ -285,8 +285,8 @@
<map name="sensor" flag="gazebo">
<verbatim key="sensor_${name}_r_camera">
<sensor:camera name="${name}_r_sensor">
- <imageWidth>640</imageWidth>
- <imageHeight>480</imageHeight>
+ <imageSize>640 480</imageSize>
+ <imageFormat>L8</imageFormat>
<hfov>90</hfov>
<nearClip>0.1</nearClip>
<farClip>100</farClip>
Modified: pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/prosilica_defs.xml
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/prosilica_defs.xml 2009-05-29 20:32:53 UTC (rev 16396)
+++ pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/prosilica_defs.xml 2009-05-29 20:39:25 UTC (rev 16397)
@@ -38,8 +38,7 @@
<map name="sensor" flag="gazebo">
<verbatim key="sensor_${name}_camera">
<sensor:camera name="${name}_sensor">
- <imageWidth>1024</imageWidth>
- <imageHeight>800</imageHeight>
+ <imageSize>1024 800</imageSize>
<hfov>60</hfov>
<nearClip>0.1</nearClip>
<farClip>100</farClip>
Modified: pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/ptz_defs.xml
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/ptz_defs.xml 2009-05-29 20:32:53 UTC (rev 16396)
+++ pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/ptz_defs.xml 2009-05-29 20:39:25 UTC (rev 16397)
@@ -85,8 +85,7 @@
<map name="sensor" flag="gazebo">
<verbatim key="sensor_${side}_ptz_camera">
<sensor:camera name="${side}_ptz_cam_sensor">
- <imageWidth>640</imageWidth>
- <imageHeight>480</imageHeight>
+ <imageSize>640 480</imageSize>
<hfov>60</hfov>
<nearClip>0.1</nearClip>
<farClip>100</farClip>
Property changes on: pkg/trunk/visualization
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/rviz_selection:12152-13640
/pkg/branches/josh/visualization_scratch:14041-14428
+ /pkg/branches/gazebo-branch-merge/visualization:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
/pkg/branches/josh/rviz_selection:12152-13640
/pkg/branches/josh/visualization_scratch:14041-14428
Property changes on: pkg/trunk/visualization/rviz/src/rviz/generated/rviz_generated.i
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/generated/rviz_generated.i:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/generated/rviz_generated.i:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/generated/visualization_panel_generated.i:12189
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/generated/rviz_generated.i:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/generated/rviz_generated.i:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/generated/visualization_panel_generated.i:12189
Property changes on: pkg/trunk/visualization/rviz/src/rviz/properties/forwards.h
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/properties/forwards.h:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/properties/forwards.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/properties/property_forwards.h:12189,12408-12643,12667
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/properties/forwards.h:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/properties/forwards.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/properties/property_forwards.h:12189,12408-12643,12667
Property changes on: pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.cpp:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.cpp:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp:497-13654
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.cpp:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.cpp:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.cpp:497-13654
Property changes on: pkg/trunk/visualization/rviz/src/rviz/robot/robot.h
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.h:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.h:497-13654
+ /pkg/branches/gazebo-branch-merge/visualization/rviz/src/rviz/robot/robot.h:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
/pkg/branches/josh/visualization_scratch/rviz/src/rviz/robot/robot.h:14041-14428
/pkg/trunk/visualization/rviz/src/rviz/robot/robot.h:497-13654
Property changes on: pkg/trunk/visualization_core/ogre_tools
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/visualization_scratch/ogre_tools:14041-14418
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
/pkg/branches/josh/visualization_scratch/ogre_tools:14041-14418
Property changes on: pkg/trunk/visualization_core/ogre_tools/media
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/media:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/visualization_scratch/ogre_tools/media:14041-14418
/pkg/trunk/visualization/ogre_tools/media:2217-8463
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/media:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
/pkg/branches/josh/visualization_scratch/ogre_tools/media:14041-14418
/pkg/trunk/visualization/ogre_tools/media:2217-8463
Property changes on: pkg/trunk/visualization_core/ogre_tools/src/stl_to_mesh
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/src/stl_to_mesh:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/visualization_scratch/ogre_tools/src/stl_to_mesh:14041-14418
/pkg/trunk/visualization/ogre_tools/src/stl_to_mesh:2217-2818
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/src/stl_to_mesh:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
/pkg/branches/josh/visualization_scratch/ogre_tools/src/stl_to_mesh:14041-14418
/pkg/trunk/visualization/ogre_tools/src/stl_to_mesh:2217-2818
Property changes on: pkg/trunk/visualization_core/ogre_tools/test
___________________________________________________________________
Modified: svn:mergeinfo
- /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/test:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262
/pkg/branches/josh/visualization_scratch/ogre_tools/test:14041-14418
/pkg/trunk/visualization/ogre_tools/test:2217-3599
+ /pkg/branches/gazebo-branch-merge/visualization_core/ogre_tools/test:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
/pkg/branches/josh/visualization_scratch/ogre_tools/test:14041-14418
/pkg/trunk/visualization/ogre_tools/test:2217-3599
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <hsu...@us...> - 2009-05-30 05:45:33
|
Revision: 16456
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16456&view=rev
Author: hsujohnhsu
Date: 2009-05-30 05:44:53 +0000 (Sat, 30 May 2009)
Log Message:
-----------
fix test_slide case. caught error with friction setting, see gazebo 7746.
Modified Paths:
--------------
pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_slide.world
Modified: pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.xml
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.xml 2009-05-30 05:43:38 UTC (rev 16455)
+++ pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.xml 2009-05-30 05:44:53 UTC (rev 16456)
@@ -1,16 +1,15 @@
<launch>
<node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/test/test_slide.world" respawn="false" output="screen">
<env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(optenv LD_LIBRARY_PATH)" />
- <env name="GAZEBO_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
+ <env name="GAZEBO_RESOURCE_PATH" value="$(find gazebo_robot_description):$(find gazebo)/gazebo/share/gazebo" />
<env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
- <env name="MC_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
</node>
<!-- send single_link.xml to param server -->
<param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
<!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="urdf2factory" args="/robotdesc/pr2 0 6 18 0 0 90" respawn="false" output="screen" /> <!-- load default arm controller -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="/robotdesc/pr2 0 6 18 0 -75 90" respawn="false" output="screen" /> <!-- load default arm controller -->
<!-- load controllers -->
<include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_slide.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_slide.world 2009-05-30 05:43:38 UTC (rev 16455)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_slide.world 2009-05-30 05:44:53 UTC (rev 16456)
@@ -29,7 +29,7 @@
<cfm>0.0000000001</cfm>
<erp>0.2</erp>
<quickStep>true</quickStep>
- <quickStepIters>3</quickStepIters>
+ <quickStepIters>10</quickStepIters>
<quickStepW>1.3</quickStepW>
</physics:ode>
@@ -146,13 +146,14 @@
<!-- The Slide-->
<model:physical name="slide1_model">
+ <static>true</static>
<xyz> 0.0 0.0 0.00</xyz>
<rpy> 0.0 0.0 0.00</rpy>
<body:box name="slide1_legs_body">
<geom:box name="slide_base_geom">
<mu1>0.0</mu1>
<mu2>0.0</mu2>
- <kp>10000000000.0</kp>
+ <kp>1000000000.0</kp>
<kd>1.0</kd>
<xyz> 0.0 5.0 13</xyz>
@@ -161,7 +162,7 @@
<mass> 1000.0</mass>
<visual>
<size>2.0 14.14 1.0</size>
- <material>Gazebo/Red</material>
+ <material>PR2/Red</material>
<mesh>unit_box</mesh>
</visual>
</geom:box>
@@ -170,30 +171,30 @@
<geom:box name="slide_side1_geom">
<mu1>0.0</mu1>
<mu2>0.0</mu2>
- <kp>100000000.0</kp>
+ <kp>10000000000.0</kp>
<kd>1.0</kd>
<xyz> 1.0 5.0 13.7</xyz>
<rpy> 135.0 0.0 0.00</rpy>
- <size> 1.0 1.0 14.14</size>
+ <size> 0.1 1.0 14.14</size>
<mass> 1000.0</mass>
<visual>
<size>0.1 1.0 14.14</size>
- <material>Gazebo/Rocky</material>
+ <material>PR2/Green</material>
<mesh>unit_box</mesh>
</visual>
</geom:box>
<geom:box name="slide_side2_geom">
<mu1>0.0</mu1>
<mu2>0.0</mu2>
- <kp>100000000.0</kp>
+ <kp>10000000000.0</kp>
<kd>1.0</kd>
<xyz> -1.0 7.0 15.5</xyz>
<rpy> 135.0 0.0 0.00</rpy>
- <size> 1.0 1.0 10.0</size>
+ <size> 0.1 1.0 10.0</size>
<mass> 1000.0</mass>
<visual>
<size>0.1 1.0 9.0</size>
- <material>Gazebo/Rocky</material>
+ <material>PR2/Green</material>
<mesh>unit_box</mesh>
</visual>
</geom:box>
@@ -201,7 +202,7 @@
<geom:sphere name="slide_end_geom">
- <kp>1000000.0</kp>
+ <kp>100000000.0</kp>
<kd>1</kd>
<mu1>0.0</mu1>
<mu2>0.0</mu2>
@@ -211,7 +212,7 @@
<mass> 1.0</mass>
<visual>
<size> 5.0 5.0 5.0</size>
- <material>Gazebo/Rocky</material>
+ <material>PR2/Blue</material>
<mesh>unit_sphere</mesh>
</visual>
</geom:sphere>
@@ -227,70 +228,6 @@
- <geom:box name="support_1">
- <kp>10000000.0</kp>
- <kd>1</kd>
- <mu1>1000.0</mu1>
- <mu2>1000.0</mu2>
- <xyz>1000.0 1000.0 1.00</xyz>
- <rpy> 0.0 0.0 0.00</rpy>
- <mesh>default</mesh>
- <size> 1.0 1.0 2.0</size>
- <mass> 10.0</mass>
- <visual>
- <size>1.0 1.0 2.0</size>
- <material>Gazebo/Rocky</material>
- <mesh>unit_box</mesh>
- </visual>
- </geom:box>
- <geom:box name="support_2">
- <kp>10000000.0</kp>
- <kd>1</kd>
- <mu1>1000.0</mu1>
- <mu2>1000.0</mu2>
- <xyz>1000.0 -1000.0 1.00</xyz>
- <rpy> 0.0 0.0 0.00</rpy>
- <mesh>default</mesh>
- <size> 1.0 1.0 2.0</size>
- <mass> 10.0</mass>
- <visual>
- <size>1.0 1.0 2.0</size>
- <material>Gazebo/Rocky</material>
- <mesh>unit_box</mesh>
- </visual>
- </geom:box>
- <geom:box name="support_3">
- <kp>10000000.0</kp>
- <kd>1</kd>
- <mu1>1000.0</mu1>
- <mu2>1000.0</mu2>
- <xyz>-1000.0 -1000.0 1.00</xyz>
- <rpy> 0.0 0.0 0.00</rpy>
- <mesh>default</mesh>
- <size> 1.0 1.0 2.0</size>
- <mass> 10.0</mass>
- <visual>
- <size>1.0 1.0 2.0</size>
- <material>Gazebo/Rocky</material>
- <mesh>unit_box</mesh>
- </visual>
- </geom:box>
- <geom:box name="support_4">
- <kp>10000000.0</kp>
- <kd>1</kd>
- <mu1>1000.0</mu1>
- <mu2>1000.0</mu2>
- <xyz>-1000.0 1000.0 1.00</xyz>
- <rpy> 0.0 0.0 0.00</rpy>
- <mesh>default</mesh>
- <size> 1.0 1.0 2.0</size>
- <mass> 10.0</mass>
- <visual>
- <size>1.0 1.0 2.0</size>
- <material>Gazebo/Rocky</material>
- <mesh>unit_box</mesh>
- </visual>
- </geom:box>
</body:box>
</model:physical>
@@ -303,8 +240,8 @@
<geom:sphere name="ball_geom">
<kp>100000.0</kp>
<kd>1.0</kd>
- <mu1>5.0</mu1>
- <mu2>5.0</mu2>
+ <mu1>0.0</mu1>
+ <mu2>0.0</mu2>
<mesh>default</mesh>
<size> 0.25</size>
<mass> 10.0</mass>
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <hsu...@us...> - 2009-06-01 19:09:54
|
Revision: 16550
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16550&view=rev
Author: hsujohnhsu
Date: 2009-06-01 19:09:42 +0000 (Mon, 01 Jun 2009)
Log Message:
-----------
fixing test.
Modified Paths:
--------------
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/manifest.xml
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/set_pose.py
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.py
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.valid.ppm
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_camera.world
Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/manifest.xml
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/manifest.xml 2009-06-01 19:09:14 UTC (rev 16549)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/manifest.xml 2009-06-01 19:09:42 UTC (rev 16550)
@@ -12,7 +12,7 @@
<depend package="pr2_gazebo" />
<depend package="gazebo_robot_description" />
<depend package="laser_scan" />
- <depend package="deprecated_msgs" />
+ <depend package="image_msgs" />
<depend package="stereo_image_proc" />
<sysdepend os="ubuntu" version="7.04-feisty" package="xvfb"/>
</package>
Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/set_pose.py
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/set_pose.py 2009-06-01 19:09:14 UTC (rev 16549)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/set_pose.py 2009-06-01 19:09:42 UTC (rev 16550)
@@ -32,7 +32,7 @@
# POSSIBILITY OF SUCH DAMAGE.
#
-## Gazebo tug arms for navigation
+## Set head and gripper poses
PKG = 'test_pr2_sensors_gazebo'
NAME = 'set_pose'
@@ -50,29 +50,21 @@
from pr2_mechanism_controllers.msg import *
-CMD_POS_1 = 0.0
-CMD_POS_2 = 0.0
-CMD_POS_3 = 0.0
-CMD_POS_4 = 0.0
-CMD_POS_5 = 0.0
-CMD_POS_6 = 0.0
-CMD_POS_7 = 0.0
-CMD_POS_8 = 0.0
-CMD_POS_9 = 0.2
+CMD_POS_1 = 0.02
+CMD_POS_2 = -0.2
+CMD_POS_3 = 0.2
if __name__ == '__main__':
- pub_l_arm = rospy.Publisher("/left_arm_commands", JointPosCmd)
pub_l_gripper = rospy.Publisher("/l_gripper_controller/set_command", Float64)
- pub_r_arm = rospy.Publisher("/right_arm_commands", JointPosCmd)
pub_r_gripper = rospy.Publisher("/r_gripper_controller/set_command", Float64)
+ pub_head_pan = rospy.Publisher("/head_pan_controller/set_command", Float64)
pub_head_tilt = rospy.Publisher("/head_tilt_controller/set_command", Float64)
rospy.init_node(NAME, anonymous=True)
timeout_t = time.time() + 20.0 #publish for 20 seconds then stop
while time.time() < timeout_t:
- pub_l_arm.publish(JointPosCmd(['l_shoulder_pan_joint','l_shoulder_lift_joint','l_upper_arm_roll_joint','l_elbow_flex_joint','l_forearm_roll_joint','l_wrist_flex_joint','l_wrist_roll_joint'],[CMD_POS_1,CMD_POS_2,CMD_POS_3,CMD_POS_4,CMD_POS_5,CMD_POS_6,CMD_POS_7],[0,0,0,0,0,0,0],0))
- pub_l_gripper.publish(Float64(CMD_POS_8))
- pub_r_arm.publish(JointPosCmd(['r_shoulder_pan_joint','r_shoulder_lift_joint','r_upper_arm_rolr_joint','r_elbow_flex_joint','r_forearm_roll_joint','r_wrist_flex_joint','r_wrist_roll_joint'],[CMD_POS_1,CMD_POS_2,CMD_POS_3,CMD_POS_4,CMD_POS_5,CMD_POS_6,CMD_POS_7],[0,0,0,0,0,0,0],0))
- pub_r_gripper.publish(Float64(CMD_POS_8))
- pub_head_tilt.publish(Float64(CMD_POS_9))
+ pub_l_gripper.publish(Float64(CMD_POS_1))
+ pub_r_gripper.publish(Float64(CMD_POS_1))
+ pub_head_pan.publish(Float64(CMD_POS_2))
+ pub_head_tilt.publish(Float64(CMD_POS_3))
time.sleep(0.2)
Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.py
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.py 2009-06-01 19:09:14 UTC (rev 16549)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.py 2009-06-01 19:09:42 UTC (rev 16550)
@@ -45,15 +45,16 @@
import sys, unittest
import os, os.path, threading, time
import rospy, rostest
-from deprecated_msgs.msg import Image as image_msg
+from image_msgs.msg import Image as image_msg
+from image_msgs.msg import CamInfo as caminfo_msg
from PIL import Image as pili
from PIL import ImageChops as pilic
FRAME_TARGET = "cam_sen-0050.ppm"
FRAME_DIR = "test_camera_frames"
TOTAL_ERROR_TOL = 5
-TEST_DURATION = 30
-TEST_INIT_WAIT = 70
+TEST_DURATION = 10
+TEST_INIT_WAIT = 1
class PollCameraThread(threading.Thread):
def __init__(self, target, dir):
@@ -76,7 +77,9 @@
def __init__(self, *args):
super(TestCameras, self).__init__(*args)
self.success = False
- #self.pollThread = PollCameraThread(self, FRAME_DIR)
+ self.got_caminfo = False
+ self.caminfo_height = 0
+ self.caminfo_width = 0
def onTargetFrame(self):
time.sleep(0.5) #Safety, to make sure the image is really done being written.
@@ -116,15 +119,13 @@
return False
print "thumbnail lengths ",len(i0d), len(i1d)
- #compare thumbnails only
+ #compare pixel by pixel for thumbnails
for i in range(len(i0d)):
- (r0,g0,b0) = i0d[i]
- (r1,g1,b1) = i1d[i]
- #if abs(r0-r1) > 0 or abs(g0-g1) > 0 or abs(b0-b1) > 0:
- # print "debug errors ",i,abs(r0-r1),abs(g0-g1),abs(b0-b1)
- if abs(r0-r1) > pixel_tol or abs(g0-g1) > pixel_tol or abs(b0-b1) > pixel_tol:
+ (p0) = i0d[i]
+ (p1) = i1d[i]
+ if abs(p0-p1) > pixel_tol:
error_count = error_count + 1
- error_total = error_total + abs(r0-r1) + abs(g0-g1) + abs(b0-b1)
+ error_total = error_total + abs(p0-p1)
error_avg = float(error_total)/float(len(i0d))
print "total error count:",error_count
print "average error: ",error_avg
@@ -133,58 +134,65 @@
else:
return True
+ def caminfoInput(self,caminfo):
+ self.got_caminfo = True
+ self.caminfo_width = caminfo.width
+ self.caminfo_height = caminfo.height
+ print " got cam info (",caminfo.width,"X",caminfo.height,")"
+
def imageInput(self,image):
- print " got image message from ROS, begin comparing images "
+ if (self.got_caminfo):
+ print " got image and caminfo from ROS, begin comparing images."
+ else:
+ print " got image but no caminfo."
+ return
- print " - load validation image from file test_camera.valid.ppm "
- fname = roslib.packages.get_pkg_dir('test_pr2_sensors_gazebo') + '/test_camera.valid.ppm'
- if os.path.isfile(fname):
- im0 = pili.open(fname)
- #elif os.path.isfile("test/test_camera.valid.ppm"):
- # im0 = pili.open("test/test_camera.valid.ppm")
- else:
- print "cannot find validation file: test_camera.valid.ppm"
- self.success = False
- return
+ print " - load validation image from file test_camera.valid.ppm "
+ fname = roslib.packages.get_pkg_dir('test_pr2_sensors_gazebo') + '/test_camera.valid.ppm'
+ if os.path.isfile(fname):
+ im0 = pili.open(fname)
+ else:
+ print "cannot find validation file: test_camera.valid.ppm"
+ self.success = False
+ return
- print " - load image from ROS "
- size = image.width,image.height
- im1 = pili.new("RGBA",size)
- im1 = pili.frombuffer("RGB",size,str(image.data));
- im1 = im1.transpose(pili.FLIP_LEFT_RIGHT).rotate(180);
- imc = pilic.difference(im0,im1)
+ print " - load image from ROS "
+ size = self.caminfo_width,self.caminfo_height
+ im1 = pili.new("L",size)
+ im1 = pili.frombuffer("L",size,str(image.uint8_data.data));
+ im1 = im1.transpose(pili.FLIP_LEFT_RIGHT).rotate(180);
+ imc = pilic.difference(im0,im1)
- print " - comparing images "
- im1.save("test_1.ppm") # uncomment this line to capture a new valid frame when things change
- im0.save("test_0.ppm")
- imc.save("test_d.ppm")
- #im1.show()
- #im0.show()
- #imc.show()
- comp_result = self.images_are_the_same(im0,im1)
- print "test comparison ", comp_result
- #print "proofcomparison ", self.images_are_the_same(im1.getdata(),im1.getdata())
- if (self.success == False): # test if we have not succeeded
- if (comp_result == 1):
- print " - images are the Same "
- self.success = True
- else:
- print " - images differ "
- self.success = False
+ print " - comparing images "
+ im1.save("test_1.ppm") # uncomment this line to capture a new valid frame when things change
+ im0.save("test_0.ppm")
+ imc.save("test_d.ppm")
+ #im1.show()
+ #im0.show()
+ #imc.show()
+ comp_result = self.images_are_the_same(im0,im1)
+ print "test comparison ", comp_result
+ #print "proofcomparison ", self.images_are_the_same(im1.getdata(),im1.getdata())
+ if (self.success == False): # test if we have not succeeded
+ if (comp_result == 1):
+ print " - images are the Same "
+ self.success = True
+ else:
+ print " - images differ "
+ self.success = False
def test_camera(self):
print " wait ",TEST_INIT_WAIT," sec for objects and head tilt to settle."
time.sleep(TEST_INIT_WAIT)
print " subscribe stereo left image from ROS "
- #rospy.Subscriber("test_camera/image", image_msg, self.imageInput) # this is a test camera, simply looking at the cups
- rospy.Subscriber("/stereo_l/image", image_msg, self.imageInput) # this is a camera mounted on PR2 head (left stereo camera)
+ rospy.Subscriber("/stereo/left/image", image_msg, self.imageInput) # this is a camera mounted on PR2 head (left stereo camera)
+ rospy.Subscriber("/stereo/left/cam_info", caminfo_msg, self.caminfoInput) # this is a camera mounted on PR2 head (left stereo camera)
rospy.init_node(NAME, anonymous=True)
- #self.pollThread.start()
timeout_t = time.time() + TEST_DURATION
while not rospy.is_shutdown() and not self.success and time.time() < timeout_t:
- time.sleep(0.1)
+ time.sleep(1.0)
self.assert_(self.success)
Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.valid.ppm
===================================================================
(Binary files differ)
Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.xml
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.xml 2009-06-01 19:09:14 UTC (rev 16549)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.xml 2009-06-01 19:09:42 UTC (rev 16550)
@@ -1,7 +1,7 @@
<launch>
<master auto="start" />
- <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/test/test_camera.world" respawn="false" output="screen">
+ <node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/gazebo_worlds/test/test_camera.world" respawn="false" output="screen">
<env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(optenv LD_LIBRARY_PATH)" />
<env name="GAZEBO_RESOURCE_PATH" value="$(find gazebo_robot_description):$(find gazebo)/gazebo/share/gazebo" />
<env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
@@ -15,17 +15,17 @@
<!-- load controllers -->
<include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
+ <include file="$(find stereo_image_proc)/stereo.launch" />
<!-- send arm a command -->
<node pkg="robot_mechanism_controllers" type="control.py" args="set head_tilt_controller 0.2" respawn="false" output="screen" /> <!-- open gripper .5 radians -->
<!-- set head_tilt and arm pose -->
<node pkg="test_pr2_sensors_gazebo" type="set_pose.py" output="screen"/>
+ <node pkg="pr2_mechanism_controllers" type="tuckarm.py" args="b" output="screen"/>
+ <node pkg="mechanism_control" type="spawner.py" args="$(find arm_gazebo)/l_gripper_controller.xml" output="screen"/>
+ <node pkg="mechanism_control" type="spawner.py" args="$(find arm_gazebo)/r_gripper_controller.xml" output="screen"/>
- <!-- visualization -->
- <!--
- <node pkg="wx_camera_panel" type="standalone_visualizer.py" args="/stereo_l" respawn="false" output="screen" />
- -->
-
+ <!-- test -->
<test test-name="test_pr2_sensors_gazebo_test_camera" pkg="test_pr2_sensors_gazebo" type="test_camera.py" time-limit="110" />
</launch>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_camera.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_camera.world 2009-06-01 19:09:14 UTC (rev 16549)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_camera.world 2009-06-01 19:09:42 UTC (rev 16550)
@@ -97,26 +97,27 @@
<normal>0 0 1</normal>
<size>51.3 51.3</size>
<!-- map3.png -->
- <material>Gazebo/White</material>
+ <material>Gazebo/Rocky</material>
</geom:plane>
</body:plane>
</model:physical>
<!-- The small cuboidal "cup" -->
- <model:physical name="cylinder1_model">
- <xyz> 0.78 1.0 0.075</xyz>
+ <model:physical name="box1_model">
+ <xyz> 0.78 1.0 0.5</xyz>
<rpy> 0.0 0.0 0.0</rpy>
- <body:box name="cylinder1_body">
- <geom:box name="cylinder1_geom">
+ <static>true</static>
+ <body:box name="box1_body">
+ <geom:box name="box1_geom">
<mesh>default</mesh>
- <size>0.05 0.05 0.15</size>
+ <size>0.2 0.2 1.0</size>
<mass> 0.5</mass>
<cfm>0.000001</cfm>
<erp>0.8</erp>
<visual>
- <size> 0.05 0.05 0.15</size>
- <material>Gazebo/PioneerBody</material>
+ <size>0.2 0.2 1.0</size>
+ <material>PR2/Blue</material>
<mesh>unit_box</mesh>
</visual>
</geom:box>
@@ -125,18 +126,19 @@
<!-- The small cylindrical "cup" -->
<model:physical name="cylinder1_model">
- <xyz> 0.78 0.0 0.075</xyz>
+ <xyz> 0.78 0.0 0.5</xyz>
<rpy> 0.0 0.0 0.0</rpy>
+ <static>true</static>
<body:cylinder name="cylinder1_body">
<geom:cylinder name="cylinder1_geom">
<mesh>default</mesh>
- <size>0.05 0.15</size>
+ <size>0.2 1.0</size>
<mass> 0.5</mass>
<cfm>0.000001</cfm>
<erp>0.8</erp>
<visual>
- <size> 0.05 0.05 0.15</size>
- <material>Gazebo/PioneerBody</material>
+ <size>0.2 0.2 1.0</size>
+ <material>PR2/Green</material>
<mesh>unit_cylinder</mesh>
</visual>
</geom:cylinder>
@@ -145,13 +147,16 @@
<!-- The trimesh cup -->
<model:physical name="cup1_model">
- <xyz> 0.78 -1.0 0</xyz>
- <rpy> 90.0 0.0 90.0</rpy>
+ <xyz> 0.78 -1.0 0.0</xyz>
+ <rpy> 90.0 0.0 90.0</rpy>
+ <static>true</static>
<body:trimesh name="cup1_body">
+ <static>true</static>
<geom:trimesh name="cup1_geom">
+ <static>true</static>
<kp>1000000000.0</kp>
- <kd>1.3</kd>
- <scale> 0.1 0.1 0.1</scale>
+ <kd>1.0</kd>
+ <scale>0.2 1.0 0.2</scale>
<mesh>cup.mesh</mesh>
<massMatrix>true</massMatrix>
@@ -167,8 +172,8 @@
<cz>0.0</cz>
<visual>
- <scale> 0.1 0.1 0.1</scale>
- <material>Gazebo/PioneerBody</material>
+ <scale>0.2 1.0 0.2</scale>
+ <material>PR2/Red</material>
<mesh>cup.mesh</mesh>
</visual>
</geom:trimesh>
@@ -176,7 +181,6 @@
</model:physical>
<!-- White Directional light -->
- <!--
<model:renderable name="directional_white">
<light>
<type>directional</type>
@@ -184,9 +188,9 @@
<diffuseColor>0.4 0.4 0.4</diffuseColor>
<specularColor>0.0 0.0 0.0</specularColor>
<attenuation>1 0.0 1.0 0.4</attenuation>
+ <range>20</range>
</light>
</model:renderable>
- -->
<model:empty name="factory_model">
<model_thread>false</model_thread>
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <tf...@us...> - 2009-06-01 19:10:17
|
Revision: 16551
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16551&view=rev
Author: tfoote
Date: 2009-06-01 19:10:08 +0000 (Mon, 01 Jun 2009)
Log Message:
-----------
multirobot nav demo eitan and I brought up
Modified Paths:
--------------
pkg/trunk/highlevel/test_nav/config/costmap_common_params.yaml
pkg/trunk/highlevel/test_nav/move_base/base_local_planner_params.yaml
pkg/trunk/highlevel/test_nav/move_base/move_base.launch
pkg/trunk/highlevel/test_nav/move_base/navfn_params.yaml
pkg/trunk/highlevel/test_nav/move_base_local/move_base_local.launch
pkg/trunk/motion_planning/navfn/src/navfn_ros.cpp
pkg/trunk/nav/base_local_planner/src/trajectory_planner_ros.cpp
pkg/trunk/nav/nav_view/src/nav_view/tools.cpp
pkg/trunk/world_models/costmap_2d/src/costmap_2d_ros.cpp
Added Paths:
-----------
pkg/trunk/highlevel/test_nav/move_base/move_base_multi_robot.launch
Modified: pkg/trunk/highlevel/test_nav/config/costmap_common_params.yaml
===================================================================
--- pkg/trunk/highlevel/test_nav/config/costmap_common_params.yaml 2009-06-01 19:09:42 UTC (rev 16550)
+++ pkg/trunk/highlevel/test_nav/config/costmap_common_params.yaml 2009-06-01 19:10:08 UTC (rev 16551)
@@ -1,13 +1,21 @@
costmap:
+ #START VOXEL STUFF
+ map_type: voxel
+ origin_z: 0.0
+ z_resolution: 0.2
+ z_voxels: 10
+ unknown_threshold: 10
+ mark_threshold: 0
+ #END VOXEL STUFF
transform_tolerance: 0.3
obstacle_range: 2.5
max_obstacle_height: 2.0
raytrace_range: 3.0
- inscribed_radius: 0.325
+#inscribed_radius: 0.325
circumscribed_radius: 0.46
inflation_radius: 0.55
- cost_scaling_factor: 25.0
+ cost_scaling_factor: 10.0
lethal_cost_threshold: 100
observation_topics: base_scan
base_scan: {sensor_frame: frame_from_message, data_type: LaserScan, expected_update_rate: 0.2,
- observation_persistance: 0.0, marking: true, clearing: true}
+ observation_persistance: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.08}
Modified: pkg/trunk/highlevel/test_nav/move_base/base_local_planner_params.yaml
===================================================================
--- pkg/trunk/highlevel/test_nav/move_base/base_local_planner_params.yaml 2009-06-01 19:09:42 UTC (rev 16550)
+++ pkg/trunk/highlevel/test_nav/move_base/base_local_planner_params.yaml 2009-06-01 19:10:08 UTC (rev 16551)
@@ -1,10 +1,11 @@
base_local_planner:
#Independent settings for the local costmap
costmap:
- global_frame: map
+ inscribed_radius: 0.325
+ global_frame: /map
robot_base_frame: base_link
update_frequency: 5.0
- publish_frequency: 0.0
+ publish_frequency: 2.0
static_map: false
rolling_window: true
width: 6.0
@@ -13,10 +14,10 @@
origin_x: 0.0
origin_y: 0.0
transform_tolerance: 0.3
- costmap_visualization_rate: 2.0
- world_model: freespace
+ costmap_visualization_rate: 0.0
+ world_model: costmap
sim_time: 1.7
- sim_granularity: 0.05
+ sim_granularity: 0.025
dwa: true
vx_samples: 3
vtheta_samples: 20
@@ -28,8 +29,8 @@
xy_goal_tolerance: 0.1
yaw_goal_tolerance: 0.05
goal_distance_bias: 0.8
- path_distance_bias: 0.6
- occdist_scale: 0.05
+ path_distance_bias: 0.8
+ occdist_scale: 0.00
heading_lookahead: 0.325
oscillation_reset_dist: 0.05
acc_limit_th: 3.2
Modified: pkg/trunk/highlevel/test_nav/move_base/move_base.launch
===================================================================
--- pkg/trunk/highlevel/test_nav/move_base/move_base.launch 2009-06-01 19:09:42 UTC (rev 16550)
+++ pkg/trunk/highlevel/test_nav/move_base/move_base.launch 2009-06-01 19:10:08 UTC (rev 16551)
@@ -4,13 +4,8 @@
<param name="/use_sim_time" value="true"/>
<node pkg="nav" type="move_base" respawn="false" name="move_base" output="screen">
- <param name="global_frame" value="map" />
- <param name="robot_base_frame" value="base_link" />
+ <param name="footprint_padding" value="0.02" />
- <param name="inscribed_radius" value="0.325" />
- <param name="circumscribed_radius" value="0.46" />
- <param name="inflation_radius" value="0.55" />
-
<rosparam file="$(find test_nav)/config/costmap_common_params.yaml" command="load" ns="navfn" />
<rosparam file="$(find test_nav)/config/costmap_common_params.yaml" command="load" ns="base_local_planner" />
<rosparam file="$(find test_nav)/move_base/navfn_params.yaml" command="load" />
@@ -26,17 +21,21 @@
<node pkg="stage" type="stageros" name="stageros" args="$(optenv ROS_STAGE_GRAPHICS -g) $(find 2dnav_stage)/worlds/willow-pr2-5cm.world" respawn="false" >
<param name="base_watchdog_timeout" value="0.2"/>
</node>
+ <node pkg="map_server" type="map_server" args="$(find 2dnav_stage)/maps/willow-full-0.05.pgm 0.05" respawn="false" />
+ <node pkg="stage" type="stageros" name="stageros" args="$(optenv ROS_STAGE_GRAPHICS -g) $(find 2dnav_stage)/worlds/willow-pr2-5cm.world" respawn="false" >
+ <param name="base_watchdog_timeout" value="0.2"/>
+ </node>
-->
- <node pkg="map_server" type="map_server" args="$(find 2dnav_stage)/maps/willow-full-0.025.pgm 0.025" respawn="false" />
+ <node pkg="map_server" type="map_server" args="$(find willow_maps)/willow-full-0.025.pgm 0.025" />
<node pkg="stage" type="stageros" name="stageros" args="$(optenv ROS_STAGE_GRAPHICS -g) $(find 2dnav_stage)/worlds/willow-pr2-2.5cm.world" respawn="false" >
<param name="base_watchdog_timeout" value="0.2"/>
</node>
<node pkg="fake_localization" type="fake_localization" respawn="false" />
<node pkg="nav_view" type="nav_view" respawn="false">
<remap from="goal" to="/move_base/activate" />
- <remap from="raw_obstacles" to="/move_base/base_local_planner/raw_obstacles" />
- <remap from="inflated_obstacles" to="/move_base/base_local_planner/inflated_obstacles" />
- <remap from="gui_path" to="/move_base/base_local_planner/global_plan" />
+ <remap from="raw_obstacles" to="/move_base/base_local_planner/costmap/raw_obstacles" />
+ <remap from="inflated_obstacles" to="/move_base/base_local_planner/costmap/inflated_obstacles" />
+ <remap from="gui_path" to="/move_base/navfn/plan" />
<remap from="local_path" to="/move_base/base_local_planner/local_plan" />
<remap from="robot_footprint" to="/move_base/base_local_planner/robot_footprint"/>
</node>
Added: pkg/trunk/highlevel/test_nav/move_base/move_base_multi_robot.launch
===================================================================
--- pkg/trunk/highlevel/test_nav/move_base/move_base_multi_robot.launch (rev 0)
+++ pkg/trunk/highlevel/test_nav/move_base/move_base_multi_robot.launch 2009-06-01 19:10:08 UTC (rev 16551)
@@ -0,0 +1,64 @@
+<launch>
+ <master auto="start"/>
+ <group name="wg">
+ <param name="/use_sim_time" value="true"/>
+
+ <node pkg="map_server" type="map_server" name="map_server" args="$(find 2dnav_stage)/maps/willow-full.pgm 0.1" respawn="false" >
+ </node>
+
+ <node pkg="stage" type="stageros" name="stageros" args="$(optenv ROS_STAGE_GRAPHICS -g) $(find 2dnav_stage)/worlds/willow-pr2-multi.world" respawn="false">
+ <param name="base_watchdog_timeout" value="0.2"/>
+ </node>
+
+ <!-- BEGIN ROBOT 0 -->
+ <group ns="robot_0">
+ <param name="~tf_prefix" value="robot_0" />
+ <node pkg="nav" type="move_base" respawn="false" name="move_base" output="screen">
+ <rosparam file="$(find test_nav)/config/costmap_common_params.yaml" command="load" ns="navfn" />
+ <rosparam file="$(find test_nav)/config/costmap_common_params.yaml" command="load" ns="base_local_planner" />
+ <rosparam file="$(find test_nav)/move_base/navfn_params.yaml" command="load" />
+ <rosparam file="$(find test_nav)/move_base/base_local_planner_params.yaml" command="load" />
+
+ </node>
+
+ <node pkg="fake_localization" type="fake_localization" name="fake_localization" respawn="false">
+ </node>
+
+ <node pkg="nav_view" type="nav_view" name="nav_view" respawn="false">
+ <remap from="goal" to="move_base/activate" />
+ <remap from="raw_obstacles" to="move_base/base_local_planner/costmap/raw_obstacles" />
+ <remap from="inflated_obstacles" to="move_base/base_local_planner/costmap/inflated_obstacles" />
+ <remap from="gui_path" to="move_base/base_local_planner/global_plan" />
+ <remap from="local_path" to="move_base/base_local_planner/local_plan" />
+ <remap from="robot_footprint" to="move_base/base_local_planner/robot_footprint"/>
+ </node>
+ </group>
+ <!-- END ROBOT 0 -->
+
+ <!-- BEGIN ROBOT 1 -->
+ <group ns="robot_1">
+ <param name="~tf_prefix" value="robot_1" />
+ <node pkg="nav" type="move_base" respawn="false" name="move_base" output="screen">
+ <rosparam file="$(find test_nav)/config/costmap_common_params.yaml" command="load" ns="navfn" />
+ <rosparam file="$(find test_nav)/config/costmap_common_params.yaml" command="load" ns="base_local_planner" />
+ <rosparam file="$(find test_nav)/move_base/navfn_params.yaml" command="load" />
+ <rosparam file="$(find test_nav)/move_base/base_local_planner_params.yaml" command="load" />
+
+ </node>
+
+ <node pkg="fake_localization" type="fake_localization" name="fake_localization" respawn="false">
+ </node>
+
+ <node pkg="nav_view" type="nav_view" name="nav_view" respawn="false">
+ <remap from="goal" to="move_base/activate" />
+ <remap from="raw_obstacles" to="move_base/base_local_planner/costmap/raw_obstacles" />
+ <remap from="inflated_obstacles" to="move_base/base_local_planner/costmap/inflated_obstacles" />
+ <remap from="gui_path" to="move_base/base_local_planner/global_plan" />
+ <remap from="local_path" to="move_base/base_local_planner/local_plan" />
+ <remap from="robot_footprint" to="move_base/base_local_planner/robot_footprint"/>
+ </node>
+ </group>
+ <!-- END ROBOT 1 -->
+
+ </group>
+</launch>
Modified: pkg/trunk/highlevel/test_nav/move_base/navfn_params.yaml
===================================================================
--- pkg/trunk/highlevel/test_nav/move_base/navfn_params.yaml 2009-06-01 19:09:42 UTC (rev 16550)
+++ pkg/trunk/highlevel/test_nav/move_base/navfn_params.yaml 2009-06-01 19:10:08 UTC (rev 16551)
@@ -2,7 +2,8 @@
transform_tolerance: 0.3
#Independent settings for the planner's costmap
costmap:
- global_frame: map
+ inscribed_radius: 0.325
+ global_frame: /map
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 0.0
Modified: pkg/trunk/highlevel/test_nav/move_base_local/move_base_local.launch
===================================================================
--- pkg/trunk/highlevel/test_nav/move_base_local/move_base_local.launch 2009-06-01 19:09:42 UTC (rev 16550)
+++ pkg/trunk/highlevel/test_nav/move_base_local/move_base_local.launch 2009-06-01 19:10:08 UTC (rev 16551)
@@ -3,9 +3,6 @@
<group name="wg">
<param name="/use_sim_time" value="true"/>
<node pkg="nav" type="move_base_local" respawn="false" name="move_base_local" output="screen">
- <param name="global_frame" value="map" />
- <param name="robot_base_frame" value="base_link" />
-
<rosparam file="$(find test_nav)/config/costmap_common_params.yaml" command="load" ns="base_local_planner" />
<rosparam file="$(find test_nav)/move_base_local/base_local_planner_params.yaml" command="load" />
Modified: pkg/trunk/motion_planning/navfn/src/navfn_ros.cpp
===================================================================
--- pkg/trunk/motion_planning/navfn/src/navfn_ros.cpp 2009-06-01 19:09:42 UTC (rev 16550)
+++ pkg/trunk/motion_planning/navfn/src/navfn_ros.cpp 2009-06-01 19:10:08 UTC (rev 16551)
@@ -43,7 +43,7 @@
ros_node_.advertise<visualization_msgs::Polyline>("~navfn/plan", 1);
//read parameters for the planner
- ros_node_.param("~/navfn/costmap/global_frame", global_frame_, std::string("map"));
+ ros_node_.param("~/navfn/costmap/global_frame", global_frame_, std::string("/map"));
ros_node_.param("~/navfn/costmap/robot_base_frame", robot_base_frame_, std::string("base_link"));
ros_node_.param("~/navfn/transform_tolerance", transform_tolerance_, 0.2);
Modified: pkg/trunk/nav/base_local_planner/src/trajectory_planner_ros.cpp
===================================================================
--- pkg/trunk/nav/base_local_planner/src/trajectory_planner_ros.cpp 2009-06-01 19:09:42 UTC (rev 16550)
+++ pkg/trunk/nav/base_local_planner/src/trajectory_planner_ros.cpp 2009-06-01 19:10:08 UTC (rev 16551)
@@ -64,7 +64,7 @@
ros_node.advertise<visualization_msgs::Polyline>("~base_local_planner/global_plan", 1);
ros_node.advertise<visualization_msgs::Polyline>("~base_local_planner/local_plan", 1);
- ros_node.param("~base_local_planner/costmap/global_frame", global_frame_, string("map"));
+ ros_node.param("~base_local_planner/costmap/global_frame", global_frame_, string("/map"));
ros_node.param("~base_local_planner/costmap/robot_base_frame", robot_base_frame_, string("base_link"));
ros_node.param("~base_local_planner/transform_tolerance", transform_tolerance_, 0.2);
ros_node.param("~base_local_planner/update_plan_tolerance", update_plan_tolerance_, 1.0);
Modified: pkg/trunk/nav/nav_view/src/nav_view/tools.cpp
===================================================================
--- pkg/trunk/nav/nav_view/src/nav_view/tools.cpp 2009-06-01 19:09:42 UTC (rev 16550)
+++ pkg/trunk/nav/nav_view/src/nav_view/tools.cpp 2009-06-01 19:10:08 UTC (rev 16551)
@@ -166,7 +166,7 @@
printf("setting goal: Position(%.3f, %.3f, %.3f), Orientation(%.3f, %.3f, %.3f, %.3f) = Angle: %.3f\n", goal.pose.position.x, goal.pose.position.y, goal.pose.position.z,
goal.pose.orientation.x, goal.pose.orientation.y, goal.pose.orientation.z, goal.pose.orientation.w, angle);
goal.header.stamp = ros::Time::now();
- goal.header.frame_id = "map";
+ goal.header.frame_id = "/map";
ros_node_->publish( "goal", goal );
}
else
Modified: pkg/trunk/world_models/costmap_2d/src/costmap_2d_ros.cpp
===================================================================
--- pkg/trunk/world_models/costmap_2d/src/costmap_2d_ros.cpp 2009-06-01 19:09:42 UTC (rev 16550)
+++ pkg/trunk/world_models/costmap_2d/src/costmap_2d_ros.cpp 2009-06-01 19:10:08 UTC (rev 16551)
@@ -63,7 +63,7 @@
ros_node_.param("~" + prefix + "/costmap/observation_topics", topics_string, string(""));
ROS_INFO("Subscribed to Topics: %s", topics_string.c_str());
- ros_node_.param("~" + prefix + "/costmap/global_frame", global_frame_, string("map"));
+ ros_node_.param("~" + prefix + "/costmap/global_frame", global_frame_, string("/map"));
ros_node_.param("~" + prefix + "/costmap/robot_base_frame", robot_base_frame_, string("base_link"));
//we need to make sure that the transform between the robot base frame and the global frame is available
@@ -153,7 +153,7 @@
robot_srvs::StaticMap::Request map_req;
robot_srvs::StaticMap::Response map_resp;
ROS_INFO("Requesting the map...\n");
- while(!ros::service::call("static_map", map_req, map_resp))
+ while(!ros::service::call("/static_map", map_req, map_resp))
{
ROS_INFO("Request failed; trying again...\n");
usleep(1000000);
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <sy...@us...> - 2009-06-02 14:25:25
|
Revision: 16581
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16581&view=rev
Author: syrnick
Date: 2009-06-02 14:25:24 +0000 (Tue, 02 Jun 2009)
Log Message:
-----------
Renamed roshist to bagserver.
Cleaned up pf_object_detector svn:ignore properties.
Modified Paths:
--------------
pkg/trunk/util/bagserver/CMakeLists.txt
pkg/trunk/util/bagserver/mainpage.dox
pkg/trunk/util/bagserver/manifest.xml
Added Paths:
-----------
pkg/trunk/sandbox/pf_object_detector/models/INRIA/
pkg/trunk/sandbox/pf_object_detector/pf_detect_fast.launch
pkg/trunk/sandbox/pf_object_detector/test/
pkg/trunk/util/bagserver/
pkg/trunk/util/bagserver/test_data/
Removed Paths:
-------------
pkg/trunk/util/roshist/
Property Changed:
----------------
pkg/trunk/sandbox/pf_object_detector/
pkg/trunk/sandbox/pf_object_detector/models/VOC2006/
pkg/trunk/sandbox/pf_object_detector/models/VOC2007/
pkg/trunk/sandbox/pf_object_detector/models/VOC2008/
pkg/trunk/sandbox/pf_object_detector/src/
pkg/trunk/util/bagserver/srv/
Property changes on: pkg/trunk/sandbox/pf_object_detector
___________________________________________________________________
Added: svn:ignore
+ .build_version
build
lib
test_data
bin
Property changes on: pkg/trunk/sandbox/pf_object_detector/models/INRIA
___________________________________________________________________
Added: svn:ignore
+ inria_final.mat
Property changes on: pkg/trunk/sandbox/pf_object_detector/models/VOC2006
___________________________________________________________________
Added: svn:ignore
+ person_final.mat
cat_final.mat
cow_final.mat
dog_final.mat
bus_final.mat
bicycle_final.mat
motorbike_final.mat
horse_final.mat
sheep_final.mat
car_final.mat
Property changes on: pkg/trunk/sandbox/pf_object_detector/models/VOC2007
___________________________________________________________________
Added: svn:ignore
+ chair_final.mat
cow_final.mat
sofa_final.mat
bottle_final.mat
bus_final.mat
motorbike_final.mat
pottedplant_final.mat
tvmonitor_final.mat
sheep_final.mat
car_final.mat
person_final.mat
aeroplane_final.mat
cat_final.mat
dog_final.mat
bicycle_final.mat
train_final.mat
bird_final.mat
horse_final.mat
diningtable_final.mat
boat_final.mat
Property changes on: pkg/trunk/sandbox/pf_object_detector/models/VOC2008
___________________________________________________________________
Added: svn:ignore
+ chair_final.mat
cow_final.mat
sofa_final.mat
bottle_final.mat
bus_final.mat
motorbike_final.mat
pottedplant_final.mat
tvmonitor_final.mat
sheep_final.mat
car_final.mat
person_final.mat
aeroplane_final.mat
cat_final.mat
dog_final.mat
bicycle_final.mat
train_final.mat
bird_final.mat
horse_final.mat
diningtable_final.mat
boat_final.mat
Added: pkg/trunk/sandbox/pf_object_detector/pf_detect_fast.launch
===================================================================
--- pkg/trunk/sandbox/pf_object_detector/pf_detect_fast.launch (rev 0)
+++ pkg/trunk/sandbox/pf_object_detector/pf_detect_fast.launch 2009-06-02 14:25:24 UTC (rev 16581)
@@ -0,0 +1,18 @@
+<launch>
+
+
+
+
+ <node name="person_detector_slow_pfHOG" pkg="pf_object_detector" type="octave_run.sh" args="$(find pf_object_detector)" respawn="false" output="screen">
+ <param name="~tag" value="person" type="str" />
+ <param name="~model_file" value="$(find pf_object_detector)/models/VOC2007/person_final.mat" type="str" />
+ <param name="~scale" value="1" type="double" />
+ <param name="~interval" value="1" type="int" />
+ <param name="~do_display" value="0" type="bool" />
+
+
+ <remap to="/person_detector_slow_pfHOG/image" from="/stereo/left/image"/>
+ </node>
+
+
+</launch>
\ No newline at end of file
Property changes on: pkg/trunk/sandbox/pf_object_detector/src
___________________________________________________________________
Added: svn:ignore
+ fconvMT.mex
000061.jpg
features.mex
octave-core
000034.jpg
pf_resize.mex
fconvblas.mex
000084.jpg
dt.mex
Property changes on: pkg/trunk/util/bagserver
___________________________________________________________________
Added: svn:ignore
+ .build_version
build
lib
bin
Modified: pkg/trunk/util/bagserver/CMakeLists.txt
===================================================================
--- pkg/trunk/util/roshist/CMakeLists.txt 2009-05-29 17:20:20 UTC (rev 16364)
+++ pkg/trunk/util/bagserver/CMakeLists.txt 2009-06-02 14:25:24 UTC (rev 16581)
@@ -1,6 +1,6 @@
cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-rospack(roshist)
+rospack(bagserver)
gensrv()
Modified: pkg/trunk/util/bagserver/mainpage.dox
===================================================================
--- pkg/trunk/util/roshist/mainpage.dox 2009-05-29 17:20:20 UTC (rev 16364)
+++ pkg/trunk/util/bagserver/mainpage.dox 2009-06-02 14:25:24 UTC (rev 16581)
@@ -2,13 +2,13 @@
\mainpage
\htmlinclude manifest.html
-\b roshist allows to play back any intervals of bag files.
+\b bagserver allows to play back any intervals of bag files.
and playing them back.
\section What it does
-\b roshist uses an index over multiple bag files to play back any part of them in response to the service request. The index is built with \b history_build_index.py.
+\b bagserver uses an index over multiple bag files to play back any part of them in response to the service request. The index is built with \b history_build_index.py.
\section Usage
@@ -22,18 +22,18 @@
Note that the file names will be stored in the index name and should be available to the history service.
-\subsection roshist_srv.py
+\subsection bagserver_srv.py
\verbatim
-roshist_srv.py <out_namespace> <index_name>
+bagserver_srv.py <out_namespace> <index_name>
\endverbatim
-roshist_srv.py takes the output namespace and the index name. All messages will returned will be broadcast in their original topic names relocated to the the output namespace. The index file contains the names of all bag files used in the index.
+bagserver_srv.py takes the output namespace and the index name. All messages will returned will be broadcast in their original topic names relocated to the the output namespace. The index file contains the names of all bag files used in the index.
-\subsection roshist_query.py
+\subsection bagserver_query.py
\verbatim
-roshist_query.py fromsec[.from_fraction_sec] tosec[.to_fraction_sec] [svc_name=hist] [topics=*]
+bagserver_query.py fromsec[.from_fraction_sec] tosec[.to_fraction_sec] [svc_name=hist] [topics=*]
\endverbatim
roshist_query.py asks the history server to send out everything in the specified interface. You can optionally specify which history service to query and which topics should be listed.
@@ -55,7 +55,7 @@
The example assumes certain bag files. Assume you have them here:
\verbatim
-D=/u/sorokin/ros/ros-pkg/util/roshist/test_data
+D=/u/sorokin/ros/ros-pkg/util/bagserver/test_data
\endverbatim
@@ -74,12 +74,12 @@
Launch the history server
\verbatim
- rosrun roshist roshist_srv.py test/stereo.launch
+ rosrun bagserver bagserver_srv.py test_data/test1.stereo.index
\endverbatim
Do this several times:
\verbatim
-./src/roshist_query.py 1242970240 1242970250
+./src/bagserver_query.py 1242970240 1242970250
\endverbatim
You will see the stereo output from that interval.
Modified: pkg/trunk/util/bagserver/manifest.xml
===================================================================
--- pkg/trunk/util/roshist/manifest.xml 2009-05-29 17:20:20 UTC (rev 16364)
+++ pkg/trunk/util/bagserver/manifest.xml 2009-06-02 14:25:24 UTC (rev 16581)
@@ -1,5 +1,5 @@
<package>
-<description brief="Ros Log random access tools">
+<description brief="Random access into the bag files">
This is a convenience tool to access random messages recorded in bag
files. The main target is testing and debugging. Potential use
includes access of some information from the past.
Property changes on: pkg/trunk/util/bagserver/srv
___________________________________________________________________
Added: svn:ignore
+ cpp
oct
lisp
Property changes on: pkg/trunk/util/bagserver/test_data
___________________________________________________________________
Added: svn:ignore
+ test1.ann.index
test1.stereo.index
annotations1_reordered_v2.bag
test1.bag
test1.stereo2.index
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <bla...@us...> - 2009-06-02 15:35:07
|
Revision: 16583
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16583&view=rev
Author: blaisegassend
Date: 2009-06-02 15:35:05 +0000 (Tue, 02 Jun 2009)
Log Message:
-----------
Added DiagnosedPublisher and HeaderlessDiagnosedPublisher to automatically
publish diagnostics upon publication, and integrated them with the
forearm_camera.
Started writing an outling of the driver_base classes.
Modified Paths:
--------------
pkg/trunk/drivers/cam/camera_trigger_test/src/CMakeLists.txt
pkg/trunk/drivers/cam/camera_trigger_test/src/trigger_test.cpp
pkg/trunk/drivers/cam/camera_trigger_test/test_controllers.xml
pkg/trunk/drivers/cam/camera_trigger_test/testmode0.launch
pkg/trunk/drivers/cam/camera_trigger_test/testmode1.launch
pkg/trunk/drivers/cam/forearm_cam/src/nodes/forearm_node.cpp
pkg/trunk/drivers/generic/driver_base/include/driver_base/config_manager.h
pkg/trunk/drivers/generic/driver_base/include/driver_base/driver_base.h
pkg/trunk/drivers/imu/imu_node/imu_node.cc
pkg/trunk/hardware_test/diagnostic_updater/include/diagnostic_updater/DiagnosticStatusWrapper.h
pkg/trunk/hardware_test/diagnostic_updater/include/diagnostic_updater/diagnostic_updater.h
pkg/trunk/hardware_test/diagnostic_updater/include/diagnostic_updater/update_functions.h
pkg/trunk/hardware_test/diagnostic_updater/test/diagnostic_updater_test.cpp
pkg/trunk/hardware_test/self_test/include/self_test/self_test.h
Added Paths:
-----------
pkg/trunk/drivers/generic/driver_base/include/driver_base/device.h
pkg/trunk/drivers/generic/driver_base/include/driver_base/driver.h
pkg/trunk/hardware_test/diagnostic_updater/include/diagnostic_updater/publisher.h
Modified: pkg/trunk/drivers/cam/camera_trigger_test/src/CMakeLists.txt
===================================================================
--- pkg/trunk/drivers/cam/camera_trigger_test/src/CMakeLists.txt 2009-06-02 15:32:13 UTC (rev 16582)
+++ pkg/trunk/drivers/cam/camera_trigger_test/src/CMakeLists.txt 2009-06-02 15:35:05 UTC (rev 16583)
@@ -1 +1,2 @@
rospack_add_executable(trigger_test trigger_test.cpp)
+rospack_add_executable(timestamp_test timestamp_test.cpp)
Modified: pkg/trunk/drivers/cam/camera_trigger_test/src/trigger_test.cpp
===================================================================
--- pkg/trunk/drivers/cam/camera_trigger_test/src/trigger_test.cpp 2009-06-02 15:32:13 UTC (rev 16582)
+++ pkg/trunk/drivers/cam/camera_trigger_test/src/trigger_test.cpp 2009-06-02 15:35:05 UTC (rev 16583)
@@ -61,10 +61,6 @@
public:
TriggerTest(ros::Node &node) : node_(node), outfile_(NULL)
{
- // Subscribe to image stream.
-
- node_.subscribe("image", img_msg_, &TriggerTest::image_cb, this, 1);
-
// Read operating mode.
node_.param("~mode", mode_, 0);
@@ -127,6 +123,10 @@
ignore_count_ = 5;
node_.param("~repetitions", num_repetitions_, 10);
reps_ = 0;
+
+ // Subscribe to image stream.
+
+ node_.subscribe("image", img_msg_, &TriggerTest::image_cb, this, 1);
}
~TriggerTest()
Modified: pkg/trunk/drivers/cam/camera_trigger_test/test_controllers.xml
===================================================================
--- pkg/trunk/drivers/cam/camera_trigger_test/test_controllers.xml 2009-06-02 15:32:13 UTC (rev 16582)
+++ pkg/trunk/drivers/cam/camera_trigger_test/test_controllers.xml 2009-06-02 15:35:05 UTC (rev 16583)
@@ -1,10 +1,10 @@
<controllers>
<controller name="cam_controller" type="TriggerControllerNode">
<actuator name="fl_caster_l_wheel_motor" />
- <!--waveform rep_rate="10" active_low="0" phase="0" duty_cycle=".5" running="1" pulsed="1" /-->
+ <waveform rep_rate="24" active_low="0" phase="0" duty_cycle=".5" running="1" pulsed="1" />
</controller>
<controller name="led_controller" type="TriggerControllerNode">
<actuator name="bl_caster_l_wheel_motor" />
- <!--waveform rep_rate="10" active_low="0" phase="0" duty_cycle=".5" running="1" pulsed="1" /-->
+ <waveform rep_rate="10" active_low="1" phase="0" duty_cycle=".5" running="0" pulsed="1" />
</controller>
</controllers>
Modified: pkg/trunk/drivers/cam/camera_trigger_test/testmode0.launch
===================================================================
--- pkg/trunk/drivers/cam/camera_trigger_test/testmode0.launch 2009-06-02 15:32:13 UTC (rev 16582)
+++ pkg/trunk/drivers/cam/camera_trigger_test/testmode0.launch 2009-06-02 15:35:05 UTC (rev 16583)
@@ -6,7 +6,7 @@
<group ns="forearm">
<param name="ext_trigger" type="bool" value="True"/>
- <param name="if_name" type="str" value="eth1"/>
+ <param name="if_name" type="str" value="eth2"/>
<param name="ip_address" type="str" value="169.254.0.1"/>
<!--param name="serial_number" type="int" value="2"/-->
<param name="video_mode" type="str" value="640x480x15"/>
Modified: pkg/trunk/drivers/cam/camera_trigger_test/testmode1.launch
===================================================================
--- pkg/trunk/drivers/cam/camera_trigger_test/testmode1.launch 2009-06-02 15:32:13 UTC (rev 16582)
+++ pkg/trunk/drivers/cam/camera_trigger_test/testmode1.launch 2009-06-02 15:35:05 UTC (rev 16583)
@@ -6,7 +6,7 @@
<group ns="forearm">
<param name="ext_trigger" type="bool" value="True"/>
- <param name="if_name" type="str" value="eth1"/>
+ <param name="if_name" type="str" value="eth2"/>
<param name="ip_address" type="str" value="169.254.0.1"/>
<!--param name="serial_number" type="int" value="2"/-->
<param name="video_mode" type="str" value="640x480x15"/>
Modified: pkg/trunk/drivers/cam/forearm_cam/src/nodes/forearm_node.cpp
===================================================================
--- pkg/trunk/drivers/cam/forearm_cam/src/nodes/forearm_node.cpp 2009-06-02 15:32:13 UTC (rev 16582)
+++ pkg/trunk/drivers/cam/forearm_cam/src/nodes/forearm_node.cpp 2009-06-02 15:35:05 UTC (rev 16583)
@@ -44,6 +44,7 @@
#include <image_msgs/FillImage.h>
#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/update_functions.h>
+#include <diagnostic_updater/publisher.h>
#include <self_test/self_test.h>
#include <robot_mechanism_controllers/SetWaveform.h>
#include <robot_mechanism_controllers/trigger_controller.h>
@@ -202,7 +203,9 @@
bool open_;
- ros::Publisher cam_pub_;
+ diagnostic_updater::Updater diagnostic_;
+
+ diagnostic_updater::DiagnosedPublisher<image_msgs::Image> cam_pub_;
ros::Publisher cam_info_pub_;
ros::ServiceClient trig_service_;
@@ -219,9 +222,8 @@
controller::trigger_configuration trig_req_;
robot_mechanism_controllers::SetWaveform::Response trig_rsp_;
- diagnostic_updater::Updater diagnostic_;
- diagnostic_updater::FrequencyStatus freq_diag_;
- diagnostic_updater::TimeStampStatus timestamp_diag_;
+// diagnostic_updater::FrequencyStatus freq_diag_;
+// diagnostic_updater::TimeStampStatus timestamp_diag_;
SelfTest<ForearmNode> self_test_;
bool was_running_pretest_;
@@ -240,7 +242,10 @@
ForearmNode(ros::NodeHandle &nh)
: node_handle_(nh), camera_(NULL), started_video_(false),
diagnostic_(ros::NodeHandle()),
- freq_diag_(desired_freq_, desired_freq_, 0.05),
+ cam_pub_(node_handle_.advertise<image_msgs::Image>("~image_raw", 1),
+ diagnostic_,
+ diagnostic_updater::FrequencyStatusParam(&desired_freq_, &desired_freq_, 0.05),
+ diagnostic_updater::TimeStampStatusParam()),
self_test_(this),
useFrame_(boost::bind(&ForearmNode::publishImage, this, _1, _2, _3, _4))
{
@@ -252,8 +257,8 @@
diagnostic_thread_ = NULL;
// Setup diagnostics
- diagnostic_.add(timestamp_diag_);
- diagnostic_.add("Frequency Status", this, &ForearmNode::freqStatus );
+ //diagnostic_.add(timestamp_diag_);
+ //diagnostic_.add("Frequency Status", this, &ForearmNode::freqStatus );
diagnostic_.add("Link Status", this, &ForearmNode::linkStatus );
// Setup self test
@@ -280,7 +285,7 @@
if (node_handle_.ok())
{
- freq_diag_.clear(); // Avoids having an error until the window fills up.
+ cam_pub_.clear_window(); // Avoids having an error until the window fills up.
diagnostic_thread_ = new boost::thread( boost::bind(&ForearmNode::diagnosticsLoop, this) );
}
}
@@ -294,7 +299,7 @@
else {
ROS_FATAL("IP address not specified");
exit_status_ = 1;
- node_handle_.shutdown();
+ //node_handle_.shutdown();
return;
}
@@ -527,22 +532,6 @@
trig_service_ = node_handle_.serviceClient<robot_mechanism_controllers::SetWaveform>(trig_controller_cmd_);
// Retry a few times in case the service is just coming up.
- bool ret_val = false;
- for (int retry_count = 0; retry_count < 5 && ! ret_val; retry_count++)
- {
- ret_val = trig_service_.call(trig_req_, trig_rsp_);
- if (ret_val)
- break;
- sleep(1);
- }
-
- if (!ret_val)
- {
- ROS_FATAL("Unable to set trigger controller.");
- exit_status_ = 1;
- node_handle_.shutdown();
- return;
- }
}
else
{
@@ -554,7 +543,7 @@
if ( pr2ImagerModeSelect( camera_, video_mode_ ) != 0) {
ROS_FATAL("Mode select error");
exit_status_ = 1;
- node_handle_.shutdown();
+ //node_handle_.shutdown();
return;
}
@@ -580,7 +569,7 @@
// Receive frames through callback
// TODO: start this in separate thread?
- cam_pub_ = node_handle_.advertise<image_msgs::Image>("~image_raw", 1);
+ //cam_pub_ = node_handle_.advertise<image_msgs::Image>("~image_raw", 1);
if (calibrated_)
cam_info_pub_ = node_handle_.advertise<image_msgs::CamInfo>("~cam_info", 1);
@@ -623,18 +612,6 @@
}
}
- // Stop Triggering
- if (!trig_controller_cmd_.empty())
- {
- ROS_DEBUG("Stopping triggering.");
- trig_req_.running = 0;
- ros::Node shutdown_node("forearm_node", ros::Node::ANONYMOUS_NAME | ros::Node::DONT_ADD_ROSOUT_APPENDER); // Need this because the node has been shutdown already
- if (!trig_service_.call(trig_req_, trig_rsp_))
- { // This probably means that the trigger controller was turned off,
- // so we don't really care.
- ROS_DEBUG("Was not able to stop triggering.");
- }
- }
}
private:
@@ -648,12 +625,38 @@
exit_status_ = 1;
return;
}
+ if (!trig_controller_cmd_.empty())
+ {
+ trig_req_.running = 1;
+ if (!trig_service_.call(trig_req_, trig_rsp_))
+ {
+ ROS_ERROR("Unable to set trigger controller.");
+ exit_status_ = 1;
+ //node_handle_.shutdown();
+ goto stop_video;
+ }
+ }
frameTimeFilter_.reset_filter();
ROS_INFO("Camera running.");
// Receive video
pr2VidReceive(camera_->ifName, port, height_, width_, &ForearmNode::frameHandler, this);
+ // Stop Triggering
+ if (!trig_controller_cmd_.empty())
+ {
+ ROS_DEBUG("Stopping triggering.");
+ trig_req_.running = 0;
+ /// @todo need to turn on a node in the case where the node is
+ //already down.
+ //ros::Node shutdown_node("forearm_node", ros::Node::ANONYMOUS_NAME | ros::Node::DONT_ADD_ROSOUT_APPENDER); // Need this because the node has been shutdown already
+ if (!trig_service_.call(trig_req_, trig_rsp_))
+ { // This probably means that the trigger controller was turned off,
+ // so we don't really care.
+ ROS_DEBUG("Was not able to stop triggering.");
+ }
+ }
+stop_video:
// Stop video
if (started_video_) // Exited unexpectedly.
{
@@ -670,14 +673,11 @@
ROS_DEBUG("Image thread exiting.");
}
- void freqStatus(diagnostic_updater::DiagnosticStatusWrapper& status)
+/* void freqStatus(diagnostic_updater::DiagnosticStatusWrapper& status)
{
freq_diag_(status);
- status.addv("Free-running frequency", imager_freq_);
- status.adds("External trigger controller", trig_controller_);
- status.adds("Trigger mode", ext_trigger_ ? "external" : "internal");
- }
+ }*/
void linkStatus(diagnostic_updater::DiagnosticStatusWrapper& stat)
{
@@ -685,10 +685,14 @@
{
stat.summary(2, "Next frame is past due.");
}
- else
+ else if (started_video_)
{
stat.summary(0, "Frames are streaming.");
}
+ else
+ {
+ stat.summary(1, "Frames are not streaming.");
+ }
stat.addv("Missing image line frames", missed_line_count_);
stat.addv("Missing EOF frames", missed_eof_count_);
@@ -701,6 +705,9 @@
stat.adds("Image mode", mode_name_);
stat.addsf("Latest frame time", "%f", last_image_time_);
stat.adds("Latest frame #", last_frame_number_);
+ stat.addv("Free-running frequency", imager_freq_);
+ stat.adds("External trigger controller", trig_controller_);
+ stat.adds("Trigger mode", ext_trigger_ ? "external" : "internal");
}
int publishImage(size_t width, size_t height, uint8_t *frameData, ros::Time t)
@@ -708,13 +715,13 @@
fillImage(image_, "image", height, width, 1, "bayer_bggr", "uint8", frameData);
image_.header.stamp = t;
- timestamp_diag_.tick(t);
+ //timestamp_diag_.tick(t);
cam_pub_.publish(image_);
if (calibrated_) {
cam_info_.header.stamp = t;
cam_info_pub_.publish(cam_info_);
}
- freq_diag_.tick();
+ //freq_diag_.tick();
return 0;
}
@@ -950,7 +957,7 @@
stop();
}
- void interruptionTest(robot_msgs::DiagnosticStatus& status)
+ void interruptionTest(diagnostic_updater::DiagnosticStatusWrapper& status)
{
status.name = "Interruption Test";
@@ -966,7 +973,7 @@
}
}
- void connectTest(robot_msgs::DiagnosticStatus& status)
+ void connectTest(diagnostic_updater::DiagnosticStatusWrapper& status)
{
status.name = "Connection Test";
@@ -987,7 +994,7 @@
self_test_.setID(str(boost::format("FCAM%i")%serial_number_));
}
- void startTest(robot_msgs::DiagnosticStatus& status)
+ void startTest(diagnostic_updater::DiagnosticStatusWrapper& status)
{
status.name = "Start Test";
@@ -997,35 +1004,17 @@
status.message = "Started successfully.";
}
- void streamingTest(robot_msgs::DiagnosticStatus& status)
+ void streamingTest(diagnostic_updater::DiagnosticStatusWrapper& status)
{
- freq_diag_.clear();
+ cam_pub_.clear_window();
sleep(5);
- diagnostic_updater::DiagnosticStatusWrapper dsfreq;
- freq_diag_(dsfreq);
+ cam_pub_.run(status);
- diagnostic_updater::DiagnosticStatusWrapper dstime;
- timestamp_diag_(dstime);
-
- if (dsfreq.level > 0)
- {
- status = dsfreq;
- }
- else if (dstime.level > 0 && dstime.level > dsfreq.level)
- {
- status = dstime;
- }
- else
- {
- status.level = 0;
- status.message = "Started successfully.";
- }
-
status.name = "Streaming Test";
}
- void disconnectTest(robot_msgs::DiagnosticStatus& status)
+ void disconnectTest(diagnostic_updater::DiagnosticStatusWrapper& status)
{
status.name = "Disconnect Test";
@@ -1076,9 +1065,9 @@
{
public:
VideoModeTestFrameHandler(diagnostic_updater::DiagnosticStatusWrapper &status) : status_(status)
- {}
+ {}
- int operator()(size_t width, size_t height, uint8_t *data, ros::Time stamp)
+ int run(size_t width, size_t height, uint8_t *data, ros::Time stamp)
{
status_.adds("Got a frame", "Pass");
@@ -1123,7 +1112,7 @@
mode_name_ = mode;
VideoModeTestFrameHandler callback(status);
- useFrame_ = boost::bind<int>(boost::ref(callback), _1, _2, _3, _4);
+ useFrame_ = boost::bind(&VideoModeTestFrameHandler::run, boost::ref(callback), _1, _2, _3, _4);
status.name = mode + " Pattern Test";
status.summary(0, "Passed"); // If nobody else fills this, then the test passed.
@@ -1155,7 +1144,7 @@
mode_name_ = oldmode;
}
- void resumeTest(robot_msgs::DiagnosticStatus& status)
+ void resumeTest(diagnostic_updater::DiagnosticStatusWrapper& status)
{
status.name = "Resume Test";
Modified: pkg/trunk/drivers/generic/driver_base/include/driver_base/config_manager.h
===================================================================
--- pkg/trunk/drivers/generic/driver_base/include/driver_base/config_manager.h 2009-06-02 15:32:13 UTC (rev 16582)
+++ pkg/trunk/drivers/generic/driver_base/include/driver_base/config_manager.h 2009-06-02 15:35:05 UTC (rev 16583)
@@ -1,3 +1,5 @@
+#error Do not use this file. It is scheduled for deletion.
+
/*********************************************************************
* Software License Agreement (BSD License)
*
@@ -32,6 +34,8 @@
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
+// Author: Blaise Gassend
+
#ifndef __CONFIG_MANAGER_H__
#define __CONFIG_MANAGER_H__
Added: pkg/trunk/drivers/generic/driver_base/include/driver_base/device.h
===================================================================
--- pkg/trunk/drivers/generic/driver_base/include/driver_base/device.h (rev 0)
+++ pkg/trunk/drivers/generic/driver_base/include/driver_base/device.h 2009-06-02 15:35:05 UTC (rev 16583)
@@ -0,0 +1,58 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2009, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above
+ * copyright notice, this list of conditions and the following
+ * disclaimer in the documentation and/or other materials provided
+ * with the distribution.
+ * * Neither the name of the Willow Garage nor the names of its
+ * contributors may be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+// Author: Blaise Gassend
+#ifndef __DRIVER_BASE__DEVICE_H__
+#define __DRIVER_BASE__DEVICE_H__
+
+namespace driver_base
+{
+
+class Device
+{
+public:
+ void open() = 0;
+ void close() = 0;
+ void start() = 0;
+ void stop() = 0;
+ void poll() = 0;
+ void started() = 0;
+};
+
+/// @fixme derived classes for nodes that only poll or only stream.
+
+};
+
+#endif
+
Added: pkg/trunk/drivers/generic/driver_base/include/driver_base/driver.h
===================================================================
--- pkg/trunk/drivers/generic/driver_base/include/driver_base/driver.h (rev 0)
+++ pkg/trunk/drivers/generic/driver_base/include/driver_base/driver.h 2009-06-02 15:35:05 UTC (rev 16583)
@@ -0,0 +1,78 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2009, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above
+ * copyright notice, this list of conditions and the following
+ * disclaimer in the documentation and/or other materials provided
+ * with the distribution.
+ * * Neither the name of the Willow Garage nor the names of its
+ * contributors may be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+// Author: Blaise Gassend
+#ifndef __DRIVER_BASE__DRIVER_H__
+#define __DRIVER_BASE__DRIVER_H__
+
+#include <diagnostic_updater/diagnostic_updater.h>
+#include <self_test/self_test.h>
+
+namespace driver_base
+{
+
+
+class Driver
+{
+public:
+ void Driver()
+ {
+ prepare_diagnostics();
+ prepare_self_tests();
+ read_config();
+ }
+
+ void spin()
+ {
+ while (node_handle_.ok())
+ {
+ if (parameters_.autostart && !started())
+ {
+ start();
+ }
+
+ /// Will need some locking here or in diagnostic_updater?
+ diagnostic_.update();
+ self_test_.checkTest();
+ }
+ }
+
+private:
+ diagnostic_updater::Updater diagnostic_;
+ self_test::Dispatcher self_test_;
+};
+
+};
+
+#endif
Modified: pkg/trunk/drivers/generic/driver_base/include/driver_base/driver_base.h
===================================================================
--- pkg/trunk/drivers/generic/driver_base/include/driver_base/driver_base.h 2009-06-02 15:32:13 UTC (rev 16582)
+++ pkg/trunk/drivers/generic/driver_base/include/driver_base/driver_base.h 2009-06-02 15:35:05 UTC (rev 16583)
@@ -1,3 +1,40 @@
+#error Do not use this file. It is scheduled for deletion.
+
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2009, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above
+ * copyright notice, this list of conditions and the following
+ * disclaimer in the documentation and/or other materials provided
+ * with the distribution.
+ * * Neither the name of the Willow Garage nor the names of its
+ * contributors may be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+// Author: Blaise Gassend
#ifndef __DRIVER_BASE_H__
#define __DRIVER_BASE_H__
Modified: pkg/trunk/drivers/imu/imu_node/imu_node.cc
===================================================================
--- pkg/trunk/drivers/imu/imu_node/imu_node.cc 2009-06-02 15:32:13 UTC (rev 16582)
+++ pkg/trunk/drivers/imu/imu_node/imu_node.cc 2009-06-02 15:35:05 UTC (rev 16583)
@@ -143,7 +143,8 @@
ImuNode(ros::NodeHandle h) : self_test_(this), diagnostic_(h),
node_handle_(h), calibrated_(false), calibrate_request_(false), error_count_(0),
- desired_freq_(100), freq_diag_(desired_freq_, desired_freq_, 0.05)
+ desired_freq_(100),
+ freq_diag_(diagnostic_updater::FrequencyStatusParam(&desired_freq_, &desired_freq_, 0.05))
{
imu_data_pub_ = node_handle_.advertise<robot_msgs::PoseWithRatesStamped>("imu_data", 100);
Modified: pkg/trunk/hardware_test/diagnostic_updater/include/diagnostic_updater/DiagnosticStatusWrapper.h
===================================================================
--- pkg/trunk/hardware_test/diagnostic_updater/include/diagnostic_updater/DiagnosticStatusWrapper.h 2009-06-02 15:32:13 UTC (rev 16582)
+++ pkg/trunk/hardware_test/diagnostic_updater/include/diagnostic_updater/DiagnosticStatusWrapper.h 2009-06-02 15:35:05 UTC (rev 16583)
@@ -60,6 +60,36 @@
message = s;
}
+ void mergeSummary(unsigned char lvl, const std::string s)
+ {
+ if (lvl > level)
+ {
+ if (lvl == 0)
+ message = "";
+
+ level = lvl;
+ }
+
+ if ((lvl > 0) == (level > 0))
+ {
+ if (!message.empty())
+ message += " ";
+ message += s;
+ }
+ }
+
+ void mergeSummaryf(unsigned char lvl, const char *format, ...)
+ {
+ va_list va;
+ char buff[1000]; // @todo This could be done more elegantly.
+ va_start(va, format);
+ if (vsnprintf(buff, 1000, format, va) >= 1000)
+ ROS_DEBUG("Really long string in DiagnosticStatusWrapper::addsf, it was truncated.");
+ std::string value = std::string(buff);
+ mergeSummary(lvl, value);
+ va_end(va);
+ }
+
void summaryf(unsigned char lvl, const char *format, ...)
{
va_list va;
Modified: pkg/trunk/hardware_test/diagnostic_updater/include/diagnostic_updater/diagnostic_updater.h
===================================================================
--- pkg/trunk/hardware_test/diagnostic_updater/include/diagnostic_updater/diagnostic_updater.h 2009-06-02 15:32:13 UTC (rev 16582)
+++ pkg/trunk/hardware_test/diagnostic_updater/include/diagnostic_updater/diagnostic_updater.h 2009-06-02 15:35:05 UTC (rev 16583)
@@ -97,7 +97,7 @@
{
return name_;
}
- virtual void operator() (diagnostic_updater::DiagnosticStatusWrapper &stat) = 0;
+ virtual void run(diagnostic_updater::DiagnosticStatusWrapper &stat) = 0;
virtual ~DiagnosticTask()
{}
@@ -113,7 +113,7 @@
DiagnosticTask(name), fn_(fn)
{}
- virtual void operator ()(DiagnosticStatusWrapper &stat)
+ virtual void run(DiagnosticStatusWrapper &stat)
{
fn_(stat);
}
@@ -127,6 +127,63 @@
typedef GenericFunctionDiagnosticTask<DiagnosticStatusWrapper> FunctionDiagnosticTask;
/**
+ * A ComposableDiagnosticTask is a DiagnosticTask that is designed to be
+ * composed with other ComposableDiagnosticTask into a single status
+ * message using a CombinationDiagnosticTask.
+ */
+
+class ComposableDiagnosticTask : public DiagnosticTask
+{
+public:
+ ComposableDiagnosticTask(const std::string name) : DiagnosticTask(name)
+ {}
+
+ void run(diagnostic_updater::DiagnosticStatusWrapper &stat)
+ {
+ split_run(stat, stat);
+ }
+
+ virtual void split_run(diagnostic_updater::DiagnosticStatusWrapper &summary,
+ diagnostic_updater::DiagnosticStatusWrapper &details) = 0;
+};
+
+/**
+ * The CombinationDiagnosticTask allows multiple ComposableDiagnosticTask instances
+ * to be combined into a single DiagnosticStatus. The output of the
+ * combination has the max of the status levels, and a concatenation of the
+ * non-zero-level messages.
+ */
+
+class CombinationDiagnosticTask : public DiagnosticTask
+{
+public:
+ CombinationDiagnosticTask(const std::string name) : DiagnosticTask(name)
+ {}
+
+ virtual void run(DiagnosticStatusWrapper &stat)
+ {
+ DiagnosticStatusWrapper summary;
+ stat.summary(0, "");
+
+ for (std::vector<ComposableDiagnosticTask *>::iterator i = tasks_.begin();
+ i != tasks_.end(); i++)
+ {
+ (*i)->split_run(summary, stat);
+
+ stat.mergeSummary(summary.level, summary.message);
+ }
+ }
+
+ void addTask(ComposableDiagnosticTask *t)
+ {
+ tasks_.push_back(t);
+ }
+
+private:
+ std::vector<ComposableDiagnosticTask *> tasks_;
+};
+
+/**
*
* The @b DiagnosticTaskVector class is abstract base class that manages a
* collection of diagnostic updaters. It contains the common functionality
@@ -144,7 +201,7 @@
name_(name), fn_(f)
{}
- void operator() (diagnostic_updater::DiagnosticStatusWrapper &stat) const
+ void run(diagnostic_updater::DiagnosticStatusWrapper &stat) const
{
stat.name = name_;
fn_(stat);
@@ -172,7 +229,7 @@
* \brief Add a DiagnosticTask to the DiagnosticTaskVector
*
* \param task The DiagnosticTask to be added. It must remain valid at
- * least until the last time its operator() is called. It need not be
+ * least until the last time its diagnostic method is called. It need not be
* valid at the time the DiagnosticTaskVector is de...
[truncated message content] |
|
From: <ei...@us...> - 2009-06-02 21:28:50
|
Revision: 16612
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16612&view=rev
Author: eitanme
Date: 2009-06-02 21:28:44 +0000 (Tue, 02 Jun 2009)
Log Message:
-----------
Merging the milestone2 branch back into trunk
----------------------------------------------------------------------
r24753 (orig r16602): eitanme | 2009-06-02 14:13:08 -0700
Merged final tag of milestone2 back to the main branch
----------------------------------------------------------------------
r24738 (orig r16591): eitanme | 2009-06-02 10:48:55 -0700
Adding some fixes I didn't want to push before the milestone before we merge the branch back in
----------------------------------------------------------------------
r24631 (orig r16570): eitanme | 2009-06-01 15:19:27 -0700
adding intensity filter to throw away super dark points, hopefully removing some of the fringing
----------------------------------------------------------------------
r24630 (orig r16569): meeussen | 2009-06-01 15:19:04 -0700
Fixed outlet 38 scaling factor
----------------------------------------------------------------------
r24628 (orig r16567): meeussen | 2009-06-01 15:14:36 -0700
Fixes for corner cases in move_base_door
----------------------------------------------------------------------
r24627 (orig r16566): meeussen | 2009-06-01 15:13:58 -0700
recalibrated plug
----------------------------------------------------------------------
r24626 (orig r16565): meeussen | 2009-06-01 15:13:47 -0700
Tweaked some params
----------------------------------------------------------------------
r24625 (orig r16564): meeussen | 2009-06-01 15:13:15 -0700
Added a bit of debug to pr2_etherCAT.
----------------------------------------------------------------------
r24619 (orig r16558): pmihelich | 2009-06-01 14:07:14 -0700
prosilica_cam: Change camera data rate adaptively.
----------------------------------------------------------------------
r24618 (orig r16557): mariusmuja | 2009-06-01 13:51:05 -0700
Changed the timeout behavior for outlet_spotting2 to timeout when dcam node is down
----------------------------------------------------------------------
r24617 (orig r16556): pmihelich | 2009-06-01 13:13:45 -0700
outlet_detection: Disabled saving of all processed images.
----------------------------------------------------------------------
r24616 (orig r16555): ehberger | 2009-06-01 13:12:52 -0700
utility for running from roslaunch and capturing core files
----------------------------------------------------------------------
r24613 (orig r16552): mcgann | 2009-06-01 12:26:36 -0700
Upping plug-in duration bound
----------------------------------------------------------------------
r24605 (orig r16546): mariusmuja | 2009-06-01 11:38:41 -0700
Added timout to course outlet detection, closes #1534
----------------------------------------------------------------------
r24603 (orig r16544): pmihelich | 2009-06-01 11:31:07 -0700
outlet_detection: saveImage also saves whether detection was successful.
----------------------------------------------------------------------
r24602 (orig r16543): pmihelich | 2009-06-01 11:10:42 -0700
outlet_detection: For debugging purposes, trackers always save out their inputs. Expanded saveImage to save the time and selected transforms.
----------------------------------------------------------------------
r24592 (orig r16533): meeussen | 2009-06-01 08:36:46 -0700
limit maximum velocity of tilt laser to hopefully keep tilt laser calibrated well
----------------------------------------------------------------------
r24591 (orig r16532): meeussen | 2009-06-01 08:35:45 -0700
reduce the number of ground hits by being less carefull
----------------------------------------------------------------------
r24590 (orig r16531): mcgann | 2009-06-01 08:18:57 -0700
Implemenetd an OR constraint to resolve conflict
----------------------------------------------------------------------
r24589 (orig r16530): mcgann | 2009-06-01 07:32:20 -0700
Backing out
----------------------------------------------------------------------
r24588 (orig r16529): mcgann | 2009-06-01 06:44:07 -0700
Hack the direct value
----------------------------------------------------------------------
r24587 (orig r16528): mcgann | 2009-06-01 06:17:41 -0700
Encore
----------------------------------------------------------------------
r24586 (orig r16527): mcgann | 2009-06-01 06:12:50 -0700
Skip infinity as it is causing problems with arithemtic constraint
----------------------------------------------------------------------
r24585 (orig r16526): meeussen | 2009-06-01 06:11:09 -0700
filling out the back of kurts office to hopefully not punch through the back
----------------------------------------------------------------------
r24584 (orig r16525): mcgann | 2009-06-01 06:10:06 -0700
Infinity fix
----------------------------------------------------------------------
r24583 (orig r16524): mcgann | 2009-06-01 05:22:06 -0700
Reverted
----------------------------------------------------------------------
r24582 (orig r16523): mcgann | 2009-06-01 05:08:11 -0700
Updated the logclock to give the tick rate. Adding back the global time bound and switching to move_base thru the doorway
----------------------------------------------------------------------
r24581 (orig r16522): meeussen | 2009-06-01 04:47:56 -0700
use move base to get through door instead of move base local
----------------------------------------------------------------------
r24580 (orig r16521): mcgann | 2009-06-01 04:31:25 -0700
No risk change - just fixing the assignment of the tick to properly permit floats
----------------------------------------------------------------------
r24579 (orig r16520): meeussen | 2009-06-01 03:54:29 -0700
painted some more walls and added large obstacles in printer room
----------------------------------------------------------------------
r24578 (orig r16519): mcgann | 2009-06-01 03:02:19 -0700
Masking global timeout to enable further testing
----------------------------------------------------------------------
r24577 (orig r16518): meeussen | 2009-06-01 02:51:26 -0700
move overlapping points away from each other
----------------------------------------------------------------------
r24576 (orig r16517): meeussen | 2009-06-01 02:24:15 -0700
forgot to unsubscribe
----------------------------------------------------------------------
r24575 (orig r16516): meeussen | 2009-06-01 02:20:10 -0700
unlock before unsubscribe
----------------------------------------------------------------------
r24574 (orig r16515): mcgann | 2009-06-01 02:15:39 -0700
Reinstating global timeout capability
----------------------------------------------------------------------
r24573 (orig r16514): meeussen | 2009-06-01 01:34:55 -0700
fixed timeout for move base door
----------------------------------------------------------------------
r24572 (orig r16513): meeussen | 2009-06-01 01:15:45 -0700
change scaling factor for outlet 38
----------------------------------------------------------------------
r24571 (orig r16512): mcgann | 2009-05-31 23:38:28 -0700
Removing global timeout
----------------------------------------------------------------------
r24570 (orig r16511): mcgann | 2009-05-31 23:10:35 -0700
Trying this
----------------------------------------------------------------------
r24569 (orig r16510): mcgann | 2009-05-31 22:21:33 -0700
Trying this
----------------------------------------------------------------------
r24568 (orig r16509): meeussen | 2009-05-31 21:31:18 -0700
sleep 3 seconds after finishing to give push door the chance to finish
----------------------------------------------------------------------
r24567 (orig r16508): gerkey | 2009-05-31 21:29:42 -0700
Added call to keep activating plug tracker in initial loop.
----------------------------------------------------------------------
r24566 (orig r16507): meeussen | 2009-05-31 21:14:35 -0700
sleep 10 secs before returning success
----------------------------------------------------------------------
r24565 (orig r16506): meeussen | 2009-05-31 20:51:51 -0700
tested failure case when plug goes in at first touch
----------------------------------------------------------------------
r24564 (orig r16505): meeussen | 2009-05-31 20:24:38 -0700
change wiggling pattern for plugging in/out. Change threshold for plugged-in detectin. Push harder to first touch.
----------------------------------------------------------------------
r24563 (orig r16504): mcgann | 2009-05-31 19:58:36 -0700
Fix - we need a ground value
----------------------------------------------------------------------
r24562 (orig r16503): mcgann | 2009-05-31 19:31:28 -0700
Added in rotation and make time out a controller predicate parameter
----------------------------------------------------------------------
r24561 (orig r16502): mcgann | 2009-05-31 18:46:35 -0700
Time bounds for recharger
----------------------------------------------------------------------
r24560 (orig r16501): meeussen | 2009-05-31 18:44:10 -0700
new pattern to point head towards outlet
----------------------------------------------------------------------
r24559 (orig r16500): meeussen | 2009-05-31 18:40:13 -0700
set shoulder pan joint to 7 Nm
----------------------------------------------------------------------
r24558 (orig r16499): meeussen | 2009-05-31 18:21:48 -0700
make initial joint position match the one of safety tuck arms
----------------------------------------------------------------------
r24557 (orig r16498): ehberger | 2009-05-31 18:06:04 -0700
Add constraint for reversing pose heading for traversing open doors
----------------------------------------------------------------------
r24556 (orig r16497): mcgann | 2009-05-31 17:53:15 -0700
Fix for bad constraint name
----------------------------------------------------------------------
r24555 (orig r16496): mcgann | 2009-05-31 17:28:53 -0700
Handling tick bounds in seconds
----------------------------------------------------------------------
r24553 (orig r16494): meeussen | 2009-05-31 17:21:24 -0700
test for sachins door
----------------------------------------------------------------------
r24552 (orig r16493): mcgann | 2009-05-31 17:19:33 -0700
Use constants for legibility
----------------------------------------------------------------------
r24551 (orig r16492): mcgann | 2009-05-31 17:13:33 -0700
Time bounds for door domain
----------------------------------------------------------------------
r24550 (orig r16491): ehberger | 2009-05-31 17:12:16 -0700
Set target for unplug location based on felt location of wall, instead of initial visual guess
----------------------------------------------------------------------
r24549 (orig r16490): meeussen | 2009-05-31 17:03:43 -0700
use sine to generate pattern of orientations instead of random noise
----------------------------------------------------------------------
r24548 (orig r16489): mcgann | 2009-05-31 16:29:56 -0700
Wrong type
----------------------------------------------------------------------
r24546 (orig r16487): ehberger | 2009-05-31 16:26:00 -0700
Added debug statement for unplugging threshold
----------------------------------------------------------------------
r24545 (orig r16486): ehberger | 2009-05-31 16:19:12 -0700
Sanity check for outlet orientation. Untested and untrustworthy.
----------------------------------------------------------------------
r24544 (orig r16485): mcgann | 2009-05-31 16:14:49 -0700
Plug assumed stowed
----------------------------------------------------------------------
r24543 (orig r16484): mcgann | 2009-05-31 15:57:31 -0700
Full reset. Had missed detect_plug change
----------------------------------------------------------------------
r24542 (orig r16483): mcgann | 2009-05-31 15:33:59 -0700
Missing the laser tilt declaration
----------------------------------------------------------------------
r24541 (orig r16482): gerkey | 2009-05-31 15:18:14 -0700
Fixed joint name in shoulder controller, and added missing outlet (26) to trex goals list
----------------------------------------------------------------------
r24540 (orig r16481): meeussen | 2009-05-31 14:59:51 -0700
set joystick timeout to 100 sec
----------------------------------------------------------------------
r24539 (orig r16480): meeussen | 2009-05-31 14:59:08 -0700
Fix issues with reference frames and reference points. Add scaling factor for puching to avoid saturation of joints
----------------------------------------------------------------------
r24538 (orig r16479): meeussen | 2009-05-31 14:58:14 -0700
add function to get joint efforts
----------------------------------------------------------------------
r24537 (orig r16478): gerkey | 2009-05-31 13:38:06 -0700
Blocked holes in the back of Kurt/Eric's office and Leila/Melonee's office
----------------------------------------------------------------------
r24535 (orig r16476): ehberger | 2009-05-31 12:25:24 -0700
Re-enabling shoulder pan rotation during unplug
----------------------------------------------------------------------
r24534 (orig r16475): gerkey | 2009-05-31 12:15:51 -0700
Removing scrubbed map to avoid confusion
----------------------------------------------------------------------
r24533 (orig r16474): gerkey | 2009-05-31 11:38:34 -0700
Lowering max speed to accommodate lower laser scan rate, #1532
----------------------------------------------------------------------
r24532 (orig r16473): mcgann | 2009-05-31 11:34:34 -0700
Revert to prior policy for global navigation
----------------------------------------------------------------------
r24531 (orig r16472): mcgann | 2009-05-31 10:34:04 -0700
Need the ROS REactor for Scott
----------------------------------------------------------------------
r24530 (orig r16471): mcgann | 2009-05-31 10:06:41 -0700
Implemented recovery for the awakward case of an almost fully open door
----------------------------------------------------------------------
r24529 (orig r16470): mcgann | 2009-05-31 09:58:17 -0700
Force a rewind to detect outlet again from the approach positionin the evenet of failure.
----------------------------------------------------------------------
r24527 (orig r16468): mcgann | 2009-05-30 16:25:20 -0700
Integrated move_base to drive thru a doorway into the doorman. This allows a context dependent time bound to be added, and also allows us to generate an abort which will result in aborting the top level behavior. I have also modified the master so that we do not assume the pose based on completion of the prior action.
----------------------------------------------------------------------
r24526 (orig r16467): mcgann | 2009-05-30 11:51:41 -0700
Tests for all reachable outlets
----------------------------------------------------------------------
r24525 (orig r16466): mcgann | 2009-05-30 11:27:28 -0700
Making remote interface version and test version sharing the same TREX configuration - this will include the orienterring solver
----------------------------------------------------------------------
r24524 (orig r16465): mcgann | 2009-05-30 11:25:28 -0700
Restructuring test cases to share files more effectlively
----------------------------------------------------------------------
r24523 (orig r16464): mcgann | 2009-05-30 11:17:58 -0700
Restructuring test cases to share files more effectlively
----------------------------------------------------------------------
r24522 (orig r16463): mcgann | 2009-05-30 11:14:31 -0700
Restructuring test cases to share files more effectlively
----------------------------------------------------------------------
r24510 (orig r16454): stuglaser | 2009-05-29 20:51:37 -0700
There's tragedy in being too successful
----------------------------------------------------------------------
r24509 (orig r16453): stuglaser | 2009-05-29 20:51:13 -0700
Plug_in tries to the right, instead of directly below
----------------------------------------------------------------------
r24508 (orig r16452): mcgann | 2009-05-29 20:48:37 -0700
Less time
----------------------------------------------------------------------
r24507 (orig r16451): meeussen | 2009-05-29 20:43:15 -0700
remove debug timeout
----------------------------------------------------------------------
r24506 (orig r16450): stuglaser | 2009-05-29 20:10:43 -0700
Ok, not using that effort controller anymore
----------------------------------------------------------------------
r24505 (orig r16449): wghassan | 2009-05-29 19:44:37 -0700
added change_notifier
----------------------------------------------------------------------
r24504 (orig r16448): eitanme | 2009-05-29 19:44:03 -0700
only delete points which are farther away when removing veiling
----------------------------------------------------------------------
r24503 (orig r16447): wghassan | 2009-05-29 19:43:53 -0700
launch file
----------------------------------------------------------------------
r24502 (orig r16446): stuglaser | 2009-05-29 19:25:34 -0700
Gah
----------------------------------------------------------------------
r24501 (orig r16445): stuglaser | 2009-05-29 19:20:13 -0700
Shouldn't have committed stuff right before a demo
----------------------------------------------------------------------
r24500 (orig r16444): stuglaser | 2009-05-29 19:11:50 -0700
Unplugging stops pushing on the shoulder pan
----------------------------------------------------------------------
r24499 (orig r16443): stuglaser | 2009-05-29 19:11:01 -0700
Fixed plug_in test script
----------------------------------------------------------------------
r24498 (orig r16442): meeussen | 2009-05-29 19:02:24 -0700
max speed now .53 m/sec
----------------------------------------------------------------------
r24497 (orig r16441): meeussen | 2009-05-29 18:54:55 -0700
fix problem with no-info in costmap, and add lots of debug info
----------------------------------------------------------------------
r24495 (orig r16439): mcgann | 2009-05-29 18:48:15 -0700
Need this
----------------------------------------------------------------------
r24494 (orig r16438): mcgann | 2009-05-29 18:14:37 -0700
WTF
----------------------------------------------------------------------
r24493 (orig r16437): bhaskarama | 2009-05-29 18:06:02 -0700
unreverted tmap; corrected door override ids
----------------------------------------------------------------------
r24492 (orig r16436): mcgann | 2009-05-29 18:03:15 -0700
Redundant
----------------------------------------------------------------------
r24491 (orig r16435): mcgann | 2009-05-29 18:02:00 -0700
A test version of the milestone with no goals, but launching a ROSReactor to connect over ROS
----------------------------------------------------------------------
r24490 (orig r16434): mcgann | 2009-05-29 17:51:36 -0700
A working ros service call for requesting goals
----------------------------------------------------------------------
r24489 (orig r16433): mcgann | 2009-05-29 17:50:04 -0700
Accessing TREX core api to expose a ros service
----------------------------------------------------------------------
r24488 (orig r16432): stuglaser | 2009-05-29 17:47:16 -0700
Unplug now pushes the shoulder out to avoid singularities
----------------------------------------------------------------------
r24487 (orig r16431): stuglaser | 2009-05-29 17:46:40 -0700
joint_effort_controller now adds efforts (rather than setting)
----------------------------------------------------------------------
r24486 (orig r16430): stuglaser | 2009-05-29 17:46:21 -0700
plug_in now communicates the plug offset to unplug
----------------------------------------------------------------------
r24485 (orig r16429): meeussen | 2009-05-29 17:44:03 -0700
remove john's office
----------------------------------------------------------------------
r24484 (orig r16428): meeussen | 2009-05-29 17:41:19 -0700
close gripper so we don't hit ourselves as much
----------------------------------------------------------------------
r24483 (orig r16427): pmihelich | 2009-05-29 17:38:56 -0700
prosilica_cam: Prosilica node now waits for autoexposure to settle on startup so that first few polled images aren't overexposed.
----------------------------------------------------------------------
r24481 (orig r16425): meeussen | 2009-05-29 17:21:44 -0700
revert commit 16424
----------------------------------------------------------------------
r24478 (orig r16423): eitanme | 2009-05-29 17:04:25 -0700
Fixed inconsistency between planner and controller costmaps
----------------------------------------------------------------------
r24474 (orig r16419): pmihelich | 2009-05-29 16:51:17 -0700
prosilica_cam: Fix for first few captured frames being overexposed.
----------------------------------------------------------------------
r24473 (orig r16418): mcgann | 2009-05-29 16:16:18 -0700
For service client side test
----------------------------------------------------------------------
r24472 (orig r16417): mcgann | 2009-05-29 15:59:57 -0700
Gripper effort controller to be required by safety tuck arms
----------------------------------------------------------------------
r24470 (orig r16415): mcgann | 2009-05-29 15:26:19 -0700
Adding a recovery at the highest level by regenerating the goal
----------------------------------------------------------------------
r24469 (orig r16414): mcgann | 2009-05-29 15:25:50 -0700
Adding a service interface
----------------------------------------------------------------------
r24468 (orig r16413): mcgann | 2009-05-29 15:22:53 -0700
Simulation for testing highlevel control
----------------------------------------------------------------------
r24467 (orig r16412): mcgann | 2009-05-29 15:21:05 -0700
Adding a service interface
----------------------------------------------------------------------
r24465 (orig r16410): pmihelich | 2009-05-29 15:15:49 -0700
prosilica_cam: Updated intrinsics for 101745 (prg).
----------------------------------------------------------------------
r24463 (orig r16408): ehberger | 2009-05-29 15:05:08 -0700
Change pick_goals to only list valid IDs
----------------------------------------------------------------------
r24462 (orig r16407): eitanme | 2009-05-29 14:58:34 -0700
increasing neighbors so that the arm veil doesn't produce ground hits
----------------------------------------------------------------------
r24459 (orig r16406): eitanme | 2009-05-29 14:45:17 -0700
merging changes from trunk
----------------------------------------------------------------------
r24458 (orig r16405): eitanme | 2009-05-29 14:28:35 -0700
Now loads display config on launch
----------------------------------------------------------------------
r24456 (orig r16403): bhaskarama | 2009-05-29 14:18:40 -0700
scrubbed room beside photocopier
----------------------------------------------------------------------
r24455 (orig r16402): meeussen | 2009-05-29 14:02:04 -0700
Fixed dumb bug in throttle
----------------------------------------------------------------------
r24454 (orig r16401): mcgann | 2009-05-29 13:52:34 -0700
Will force redetection
----------------------------------------------------------------------
r24453 (orig r16400): mcgann | 2009-05-29 13:43:10 -0700
New recovery if move base local aborts
----------------------------------------------------------------------
r24452 (orig r16399): ehberger | 2009-05-29 13:42:10 -0700
Change stereo driver to run on machine 4
----------------------------------------------------------------------
r24448 (orig r16395): eitanme | 2009-05-29 13:26:47 -0700
Different patience parameters
----------------------------------------------------------------------
r24447 (orig r16394): eitanme | 2009-05-29 13:26:11 -0700
Moving near the goal wasn't really doing any good, might as well abort and clear space in a risky manner if the executive wants
----------------------------------------------------------------------
r24444 (orig r16391): gerkey | 2009-05-29 13:16:05 -0700
Reuse old buffer instead of allocating a new one for each message, and
build in release. The goal is to reduce CPU usage, #1519.
----------------------------------------------------------------------
r24436 (orig r16383): stuglaser | 2009-05-29 12:25:37 -0700
Applies the per-outlet offset for the plug_in2 action
----------------------------------------------------------------------
r24435 (orig r16382): stuglaser | 2009-05-29 12:25:16 -0700
Correctly applies the outlet offset in the plug_in action
----------------------------------------------------------------------
r24434 (orig r16381): stuglaser | 2009-05-29 12:24:57 -0700
The test script now takes the outlet id as an argument
----------------------------------------------------------------------
r24433 (orig r16380): stuglaser | 2009-05-29 12:24:39 -0700
Applying the per-outlet offsets correctly.
----------------------------------------------------------------------
r24431 (orig r16378): meeussen | 2009-05-29 11:58:43 -0700
all goals for milestone 2
----------------------------------------------------------------------
r24430 (orig r16377): meeussen | 2009-05-29 11:57:55 -0700
set time limit to unlimited
----------------------------------------------------------------------
r24429 (orig r16376): meeussen | 2009-05-29 11:57:20 -0700
fixed stale state on param server, veiling off robot arm for laser scan, tilt scan profile
----------------------------------------------------------------------
r24426 (orig r16373): meeussen | 2009-05-29 11:40:24 -0700
Merged in r16369 from trunk to fix stereocam timestamp problems.
----------------------------------------------------------------------
r24425 (orig r16372): eitanme | 2009-05-29 11:32:49 -0700
merging r16362 into milestone2 branch
----------------------------------------------------------------------
r24424 (orig r16371): pmihelich | 2009-05-29 11:11:24 -0700
outlet_detection: Added script to compute outlet offsets.
----------------------------------------------------------------------
r24423 (orig r16370): pmihelich | 2009-05-29 11:08:21 -0700
outlet_detection: Merged in change from Victor to be more robust to outlet markings and specularities. Uses convex hull of the orange blob instead of the connected component.
----------------------------------------------------------------------
r24421 (orig r16368): tfoote | 2009-05-29 10:59:58 -0700
moving stereo throttling onto machine with stereo proc to avoid network transfer
----------------------------------------------------------------------
r24420 (orig r16367): stuglaser | 2009-05-29 10:50:48 -0700
Different plug offsets for prf and prg
----------------------------------------------------------------------
r24414 (orig r16361): mcgann | 2009-05-29 08:43:09 -0700
Fix for ticket 1502.
----------------------------------------------------------------------
r24413 (orig r16360): mcgann | 2009-05-29 08:41:50 -0700
Misc
----------------------------------------------------------------------
r24412 (orig r16359): mcgann | 2009-05-29 08:41:29 -0700
make a bigger plateau
----------------------------------------------------------------------
r24409 (orig r16356): ehberger | 2009-05-29 05:37:24 -0700
fixing typo and reverting change to timeout which caused crashes
----------------------------------------------------------------------
r24408 (orig r16355): ehberger | 2009-05-29 05:34:44 -0700
allow longer tiemout for spiraling in to plug
----------------------------------------------------------------------
r24407 (orig r16354): ehberger | 2009-05-29 05:33:32 -0700
Made output of goal generation script into valid nddl
----------------------------------------------------------------------
r24406 (orig r16353): ehberger | 2009-05-29 05:32:25 -0700
Changes to plugging in - gentler approach during spiral
----------------------------------------------------------------------
r24405 (orig r16352): ehberger | 2009-05-29 05:31:39 -0700
Change to hybrid controller to reset integral term when switching modes
----------------------------------------------------------------------
r24401 (orig r16348): eitanme | 2009-05-28 23:05:19 -0700
Higher tolerances for move base
----------------------------------------------------------------------
r24400 (orig r16347): stuglaser | 2009-05-28 22:46:00 -0700
localize_plug_in_gripper and plug_in need to keep the plug tracker active
----------------------------------------------------------------------
r24399 (orig r16346): stuglaser | 2009-05-28 22:45:44 -0700
Made the plug_node go inactive when not being used.
----------------------------------------------------------------------
r24398 (orig r16345): stuglaser | 2009-05-28 22:45:01 -0700
Less aggressive action watcher
----------------------------------------------------------------------
r24396 (orig r16343): meeussen | 2009-05-28 21:44:24 -0700
hope this fixed the door dir so we don't try to pull open doors
----------------------------------------------------------------------
r24395 (orig r16342): meeussen | 2009-05-28 21:38:13 -0700
this uses a lot of cpu
----------------------------------------------------------------------
r24394 (orig r16341): meeussen | 2009-05-28 21:37:12 -0700
fix stereo cloud problem
----------------------------------------------------------------------
r24393 (orig r16340): meeussen | 2009-05-28 21:36:24 -0700
monster time limit
----------------------------------------------------------------------
r24390 (orig r16337): tfoote | 2009-05-28 20:37:11 -0700
fixing param call to be cached for it was causing major delays sometimes 40Hz -> 1/2Hz
----------------------------------------------------------------------
r24388 (orig r16335): pmihelich | 2009-05-28 19:34:37 -0700
outlet_detection: Merging in final changes from trunk.
----------------------------------------------------------------------
r24386 (orig r16333): meeussen | 2009-05-28 18:54:31 -0700
run on machine four
----------------------------------------------------------------------
r24385 (orig r16332): meeussen | 2009-05-28 18:52:26 -0700
use procilica
----------------------...
[truncated message content] |
|
From: <ei...@us...> - 2009-06-03 01:22:31
|
Revision: 16624
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16624&view=rev
Author: eitanme
Date: 2009-06-03 00:37:19 +0000 (Wed, 03 Jun 2009)
Log Message:
-----------
Compiling in Release by default for mechanism control, temporary fix for a segfault that happens when compiling wtih RelWithDebInfo
Modified Paths:
--------------
pkg/trunk/controllers/pr2_mechanism_controllers/CMakeLists.txt
pkg/trunk/controllers/robot_mechanism_controllers/CMakeLists.txt
pkg/trunk/mechanism/mechanism_control/CMakeLists.txt
pkg/trunk/mechanism/mechanism_model/CMakeLists.txt
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/CMakeLists.txt
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/CMakeLists.txt 2009-06-02 23:49:06 UTC (rev 16623)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/CMakeLists.txt 2009-06-03 00:37:19 UTC (rev 16624)
@@ -1,6 +1,7 @@
cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-set(ROS_BUILD_TYPE RelWithDebInfo)
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+set(ROS_BUILD_TYPE Release)
rospack(pr2_mechanism_controllers)
genmsg()
gensrv()
Modified: pkg/trunk/controllers/robot_mechanism_controllers/CMakeLists.txt
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/CMakeLists.txt 2009-06-02 23:49:06 UTC (rev 16623)
+++ pkg/trunk/controllers/robot_mechanism_controllers/CMakeLists.txt 2009-06-03 00:37:19 UTC (rev 16624)
@@ -1,6 +1,7 @@
cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-set(ROS_BUILD_TYPE RelWithDebInfo)
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+set(ROS_BUILD_TYPE Release)
rospack(robot_mechanism_controllers)
genmsg()
gensrv()
Modified: pkg/trunk/mechanism/mechanism_control/CMakeLists.txt
===================================================================
--- pkg/trunk/mechanism/mechanism_control/CMakeLists.txt 2009-06-02 23:49:06 UTC (rev 16623)
+++ pkg/trunk/mechanism/mechanism_control/CMakeLists.txt 2009-06-03 00:37:19 UTC (rev 16624)
@@ -1,6 +1,7 @@
cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-set(ROS_BUILD_TYPE RelWithDebInfo)
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+set(ROS_BUILD_TYPE Release)
rospack(mechanism_control)
genmsg()
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
Modified: pkg/trunk/mechanism/mechanism_model/CMakeLists.txt
===================================================================
--- pkg/trunk/mechanism/mechanism_model/CMakeLists.txt 2009-06-02 23:49:06 UTC (rev 16623)
+++ pkg/trunk/mechanism/mechanism_model/CMakeLists.txt 2009-06-03 00:37:19 UTC (rev 16624)
@@ -1,6 +1,7 @@
cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-set(ROS_BUILD_TYPE RelWithDebInfo)
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+set(ROS_BUILD_TYPE Release)
rospack(mechanism_model)
rospack_add_library( mechanism_model
src/simple_transmission.cpp
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <wg_...@us...> - 2009-06-03 02:22:30
|
Revision: 16629
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16629&view=rev
Author: wg_cmeyers
Date: 2009-06-03 02:01:30 +0000 (Wed, 03 Jun 2009)
Log Message:
-----------
Added command line option to power_node "--serial" to filter on a specific
serial number. The default is to listen and repond to all serial numbers.
Modified Paths:
--------------
pkg/trunk/drivers/robot/pr2/pr2_power_board/include/power_node.h
pkg/trunk/drivers/robot/pr2/pr2_power_board/src/power_node/CMakeLists.txt
pkg/trunk/drivers/robot/pr2/pr2_power_board/src/power_node/power_node.cpp
pkg/trunk/drivers/robot/pr2/pr2_power_board/src/power_node/power_node_simulator.cpp
pkg/trunk/pr2/qualification/scripts/power_board_cmd.py
Modified: pkg/trunk/drivers/robot/pr2/pr2_power_board/include/power_node.h
===================================================================
--- pkg/trunk/drivers/robot/pr2/pr2_power_board/include/power_node.h 2009-06-03 02:00:11 UTC (rev 16628)
+++ pkg/trunk/drivers/robot/pr2/pr2_power_board/include/power_node.h 2009-06-03 02:01:30 UTC (rev 16629)
@@ -41,7 +41,7 @@
}
void setPowerMessage(const PowerMessage &newpmsg);
- Device() { pmsgset = false; tmsgset = false; };
+ Device(): message_time(0,0) { pmsgset = false; tmsgset = false; };
~Device() { };
private:
bool tmsgset;
@@ -54,7 +54,7 @@
class PowerBoard : public ros::Node
{
public:
- PowerBoard();
+ PowerBoard( unsigned int serial_number = 0 );
bool commandCallback( pr2_power_board::PowerBoardCommand::Request &req_,
pr2_power_board::PowerBoardCommand::Response &res_);
@@ -73,4 +73,5 @@
pr2_power_board::PowerBoardCommand::Response res_;
boost::mutex library_lock_;
ros::Time last_diagnostic_time;
+ unsigned int serial_number;
};
Modified: pkg/trunk/drivers/robot/pr2/pr2_power_board/src/power_node/CMakeLists.txt
===================================================================
--- pkg/trunk/drivers/robot/pr2/pr2_power_board/src/power_node/CMakeLists.txt 2009-06-03 02:00:11 UTC (rev 16628)
+++ pkg/trunk/drivers/robot/pr2/pr2_power_board/src/power_node/CMakeLists.txt 2009-06-03 02:01:30 UTC (rev 16629)
@@ -2,4 +2,5 @@
rospack_add_executable(power_node_simulator power_node_simulator.cpp)
rospack_add_boost_directories()
-rospack_link_boost(power_node thread)
+rospack_link_boost(power_node thread program_options)
+
Modified: pkg/trunk/drivers/robot/pr2/pr2_power_board/src/power_node/power_node.cpp
===================================================================
--- pkg/trunk/drivers/robot/pr2/pr2_power_board/src/power_node/power_node.cpp 2009-06-03 02:00:11 UTC (rev 16628)
+++ pkg/trunk/drivers/robot/pr2/pr2_power_board/src/power_node/power_node.cpp 2009-06-03 02:01:30 UTC (rev 16629)
@@ -41,6 +41,7 @@
#include <sstream>
#include <iostream>
#include <boost/thread/thread.hpp>
+#include <boost/program_options.hpp>
// Internet/Socket stuff
#include <sys/types.h>
@@ -58,6 +59,7 @@
#include "ros/console.h"
using namespace std;
+namespace po = boost::program_options;
// Keep a pointer to the last message recieved for
// Each board.
@@ -416,20 +418,33 @@
}
// Look for device serial number in list of devices...
- for (unsigned i = 0; i<Devices.size(); ++i) {
- if (Devices[i]->getPowerMessage().header.serial_num == msg->header.serial_num) {
+ if(serial_number != 0) // when a specific serial is called out, ignore everything else
+ {
+ if(serial_number == msg->header.serial_num) //this should be our number
+ {
boost::mutex::scoped_lock(library_lock_);
- Devices[i]->message_time = ros::Time::now();
- Devices[i]->setPowerMessage(*msg);
- return 0;
+ Devices[0]->message_time = ros::Time::now();
+ Devices[0]->setPowerMessage(*msg);
}
}
+ else
+ {
+ for (unsigned i = 0; i<Devices.size(); ++i) {
+ if (Devices[i]->getPowerMessage().header.serial_num == msg->header.serial_num) {
+ boost::mutex::scoped_lock(library_lock_);
+ Devices[i]->message_time = ros::Time::now();
+ Devices[i]->setPowerMessage(*msg);
+ return 0;
+ }
+ }
- // Add new device to list
- Device *newDevice = new Device();
- Devices.push_back(newDevice);
- newDevice->message_time = ros::Time::now();
- newDevice->setPowerMessage(*msg);
+ // Add new device to list
+ Device *newDevice = new Device();
+ Devices.push_back(newDevice);
+ newDevice->message_time = ros::Time::now();
+ newDevice->setPowerMessage(*msg);
+ }
+
return 0;
}
@@ -441,18 +456,31 @@
}
// Look for device serial number in list of devices...
- for (unsigned i = 0; i<Devices.size(); ++i) {
- if (Devices[i]->getPowerMessage().header.serial_num == msg->header.serial_num) {
+ if(serial_number != 0) // when a specific serial is called out, ignore everything else
+ {
+ if(serial_number == msg->header.serial_num) //this should be our number
+ {
boost::mutex::scoped_lock(library_lock_);
- Devices[i]->setTransitionMessage(*msg);
- return 0;
+ Devices[0]->message_time = ros::Time::now();
+ Devices[0]->setTransitionMessage(*msg);
}
}
+ else
+ {
+ for (unsigned i = 0; i<Devices.size(); ++i) {
+ if (Devices[i]->getPowerMessage().header.serial_num == msg->header.serial_num) {
+ boost::mutex::scoped_lock(library_lock_);
+ Devices[i]->setTransitionMessage(*msg);
+ return 0;
+ }
+ }
- // Add new device to list
- Device *newDevice = new Device();
- Devices.push_back(newDevice);
- newDevice->setTransitionMessage(*msg);
+ // Add new device to list
+ Device *newDevice = new Device();
+ Devices.push_back(newDevice);
+ newDevice->setTransitionMessage(*msg);
+ }
+
return 0;
}
@@ -564,7 +592,7 @@
return 0;
}
-PowerBoard::PowerBoard(): ros::Node ("pr2_power_board")
+PowerBoard::PowerBoard( unsigned int serial_number ): ros::Node ("pr2_power_board")
{
ROSCONSOLE_AUTOINIT;
@@ -576,6 +604,14 @@
my_logger->setLevel(ros::console::g_level_lookup[ros::console::levels::Info]);
}
+ this->serial_number = serial_number;
+ if(serial_number != 0)
+ {
+ ROS_INFO("PowerBoard: created with serial number = %d", serial_number);
+ Device *newDevice = new Device();
+ Devices.push_back(newDevice);
+ }
+
advertiseService("power_board_control", &PowerBoard::commandCallback);
advertise<robot_msgs::DiagnosticMessage>("/diagnostics", 2);
}
@@ -963,11 +999,28 @@
int main(int argc, char** argv)
{
+ unsigned int serial_option;
+ po::options_description desc("Allowed options");
+ desc.add_options()
+ ("help", "this help message")
+ ("serial", po::value<unsigned int>(&serial_option)->default_value(0), "filter a specific serial number");
+
+ po::variables_map vm;
+ po::store(po::parse_command_line( argc, argv, desc), vm);
+ po::notify(vm);
+
+ if( vm.count("help"))
+ {
+ cout << desc << "\n";
+ return 1;
+ }
+
ros::init(argc, argv);
CreateAllInterfaces();
- myBoard = new PowerBoard();
+ myBoard = new PowerBoard(serial_option);
+
boost::thread getThread( &getMessages );
boost::thread sendThread( &sendMessages );
Modified: pkg/trunk/drivers/robot/pr2/pr2_power_board/src/power_node/power_node_simulator.cpp
===================================================================
--- pkg/trunk/drivers/robot/pr2/pr2_power_board/src/power_node/power_node_simulator.cpp 2009-06-03 02:00:11 UTC (rev 16628)
+++ pkg/trunk/drivers/robot/pr2/pr2_power_board/src/power_node/power_node_simulator.cpp 2009-06-03 02:01:30 UTC (rev 16629)
@@ -305,7 +305,7 @@
return 0;
}
-PowerBoard::PowerBoard(): ros::Node ("pr2_power_board")
+PowerBoard::PowerBoard( unsigned int serial_number ): ros::Node ("pr2_power_board")
{
ROSCONSOLE_AUTOINIT;
Modified: pkg/trunk/pr2/qualification/scripts/power_board_cmd.py
===================================================================
--- pkg/trunk/pr2/qualification/scripts/power_board_cmd.py 2009-06-03 02:00:11 UTC (rev 16628)
+++ pkg/trunk/pr2/qualification/scripts/power_board_cmd.py 2009-06-03 02:01:30 UTC (rev 16629)
@@ -84,7 +84,7 @@
is_first = False
for j in range(0, 3):
# Call power command service
- resp = control_proxy(j, power_cmd, 0)
+ resp = control_proxy(0, j, power_cmd, 0) # serial number of zero not valid, power_node must be started with specific serial number
rospy.logout('CMD: %s %s. Received return code %d' %
(j, power_cmd, resp.retval))
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <hsu...@us...> - 2009-06-03 20:15:57
|
Revision: 16666
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16666&view=rev
Author: hsujohnhsu
Date: 2009-06-03 20:15:56 +0000 (Wed, 03 Jun 2009)
Log Message:
-----------
update intensities. acutal intensities ranges from 0 to 4000.
Modified Paths:
--------------
pkg/trunk/demos/door_demos_gazebo/door_defs/door_defs.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/empty.world
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple.world
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/wg.world
Modified: pkg/trunk/demos/door_demos_gazebo/door_defs/door_defs.xml
===================================================================
--- pkg/trunk/demos/door_demos_gazebo/door_defs/door_defs.xml 2009-06-03 19:45:58 UTC (rev 16665)
+++ pkg/trunk/demos/door_demos_gazebo/door_defs/door_defs.xml 2009-06-03 20:15:56 UTC (rev 16666)
@@ -113,7 +113,7 @@
<box size="0.4 10 2" />
</geometry>
<map name="wall1_intensity" flag="gazebo">
- <elem key="laserRetro" value="0.5" />
+ <elem key="laserRetro" value="3000" />
</map>
</collision>
<map name="door_gravity" flag="gazebo">
@@ -147,7 +147,7 @@
<box size="0.4 10 2" />
</geometry>
<map name="wall2_intensity" flag="gazebo">
- <elem key="laserRetro" value="0.5" />
+ <elem key="laserRetro" value="3500" />
</map>
</collision>
<map name="door_gravity" flag="gazebo">
@@ -181,7 +181,7 @@
<box size="0.1 1.0 2.0" />
</geometry>
<map name="door_intensity" flag="gazebo">
- <elem key="laserRetro" value="10.0" />
+ <elem key="laserRetro" value="2500" />
</map>
</collision>
<map name="door_gravity" flag="gazebo">
@@ -216,7 +216,7 @@
<cylinder radius="0.01" length="${handle_length}" />
</geometry>
<map name="handle_intensity" flag="gazebo">
- <elem key="laserRetro" value="100.0" />
+ <elem key="laserRetro" value="3900.0" />
</map>
</collision>
<map name="handle_gravity" flag="gazebo">
@@ -251,7 +251,7 @@
<cylinder radius="0.01" length="0.05" />
</geometry>
<map name="handle1_intensity" flag="gazebo">
- <elem key="laserRetro" value="100.0" />
+ <elem key="laserRetro" value="3900.0" />
</map>
</collision>
<map name="handle1_options" flag="gazebo">
@@ -287,7 +287,7 @@
<cylinder radius="0.01" length="0.05" />
</geometry>
<map name="handle2_intensity" flag="gazebo">
- <elem key="laserRetro" value="100.0" />
+ <elem key="laserRetro" value="3900.0" />
</map>
</collision>
<map name="handle2_options" flag="gazebo">
@@ -323,7 +323,7 @@
<cylinder radius="0.03" length="0.02" />
</geometry>
<map name="handle3_intensity" flag="gazebo">
- <elem key="laserRetro" value="100.0" />
+ <elem key="laserRetro" value="3900.0" />
</map>
</collision>
<map name="handle3_options" flag="gazebo">
@@ -358,7 +358,7 @@
<cylinder radius="0.03" length="0.02" />
</geometry>
<map name="keyhold_intensity" flag="gazebo">
- <elem key="laserRetro" value="100.0" />
+ <elem key="laserRetro" value="3900.0" />
</map>
</collision>
<map name="keyhold_options" flag="gazebo">
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/empty.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/empty.world 2009-06-03 19:45:58 UTC (rev 16665)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/empty.world 2009-06-03 20:15:56 UTC (rev 16666)
@@ -69,6 +69,7 @@
<body:plane name="plane">
<geom:plane name="plane">
+ <laserRetro>2000.0</laserRetro>
<kp>1000000.0</kp>
<kd>1.0</kd>
<normal>0 0 1</normal>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple.world 2009-06-03 19:45:58 UTC (rev 16665)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple.world 2009-06-03 20:15:56 UTC (rev 16666)
@@ -70,6 +70,7 @@
<body:plane name="plane">
<geom:plane name="plane">
+ <laserRetro>2000.0</laserRetro>
<kp>1000000.0</kp>
<kd>1.0</kd>
<normal>0 0 1</normal>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/wg.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/wg.world 2009-06-03 19:45:58 UTC (rev 16665)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/wg.world 2009-06-03 20:15:56 UTC (rev 16666)
@@ -69,6 +69,7 @@
<body:plane name="plane">
<geom:plane name="plane">
+ <laserRetro>2000.0</laserRetro>
<kp>1000000.0</kp>
<kd>1.0</kd>
<normal>0 0 1</normal>
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <is...@us...> - 2009-06-03 21:52:28
|
Revision: 16674
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16674&view=rev
Author: isucan
Date: 2009-06-03 21:52:15 +0000 (Wed, 03 Jun 2009)
Log Message:
-----------
switching to new API
Modified Paths:
--------------
pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/CollisionSpaceMonitor.h
pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/KinematicStateMonitor.h
pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/RKPBasicRequestLinkPosition.h
pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/RKPConstraintEvaluator.h
pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/RKPModelBase.h
pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/ompl_extensions/RKPSpaceInformation.h
pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/ompl_extensions/RKPStateValidator.h
pkg/trunk/motion_planning/ompl_planning/src/display_planner_collision_model.cpp
pkg/trunk/motion_planning/ompl_planning/src/helpers/CollisionSpaceMonitor.cpp
pkg/trunk/motion_planning/ompl_planning/src/helpers/KinematicStateMonitor.cpp
pkg/trunk/motion_planning/ompl_planning/src/motion_planner.cpp
pkg/trunk/motion_planning/ompl_planning/src/motion_validator.cpp
pkg/trunk/motion_planning/ompl_planning/src/state_validity_monitor.cpp
pkg/trunk/motion_planning/plan_ompl_path/src/base/execute_plan_to_state_minimal.cpp
pkg/trunk/motion_planning/plan_ompl_path/src/plan_kinematic_path.cpp
pkg/trunk/motion_planning/plan_ompl_path/src/right_arm/call_plan_to_state.cpp
pkg/trunk/motion_planning/plan_ompl_path/src/right_arm/execute_plan_to_position_minimal.cpp
pkg/trunk/motion_planning/plan_ompl_path/src/right_arm/execute_plan_to_state.cpp
pkg/trunk/motion_planning/plan_ompl_path/src/right_arm/execute_plan_to_state_minimal.cpp
pkg/trunk/motion_planning/plan_ompl_path/src/right_arm/execute_replan_to_state.cpp
pkg/trunk/motion_planning/plan_ompl_path/src/right_arm/test_path_execution.cpp
pkg/trunk/world_models/collision_space/include/collision_space/environment.h
pkg/trunk/world_models/collision_space/include/collision_space/environmentODE.h
pkg/trunk/world_models/collision_space/src/collision_space/environment.cpp
pkg/trunk/world_models/collision_space/src/collision_space/environmentODE.cpp
Modified: pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/CollisionSpaceMonitor.h
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/CollisionSpaceMonitor.h 2009-06-03 21:23:48 UTC (rev 16673)
+++ pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/CollisionSpaceMonitor.h 2009-06-03 21:52:15 UTC (rev 16674)
@@ -96,58 +96,52 @@
public:
- CollisionSpaceMonitor(ros::Node *node, collision_space::EnvironmentModel *collisionSpace = NULL) : KinematicStateMonitor(node)
+ CollisionSpaceMonitor(void) : KinematicStateMonitor()
{
- if (collisionSpace)
- m_collisionSpace = collisionSpace;
- else
- m_collisionSpace = new collision_space::EnvironmentModelODE();
+ m_collisionSpace = boost::shared_ptr<collision_space::EnvironmentModel>(new collision_space::EnvironmentModelODE());
m_collisionSpace->setSelfCollision(true);
+
// hack for having ground plane
m_collisionSpace->addStaticPlane(0.0, 0.0, 1.0, -0.01);
-
- m_node->subscribe("collision_map", m_collisionMap, &CollisionSpaceMonitor::collisionMapCallback, this, 1);
- m_node->advertiseService("set_collision_state", &CollisionSpaceMonitor::setCollisionState, this);
-
- m_node->subscribe("attach_object", m_attachedObject, &CollisionSpaceMonitor::attachObject, this, 1);
+ collisionSpaceSubscribe();
}
+
+ CollisionSpaceMonitor(boost::shared_ptr<collision_space::EnvironmentModel> collisionSpace) : KinematicStateMonitor()
+ {
+ // use a given collision space
+ m_collisionSpace = collisionSpace;
+ collisionSpaceSubscribe();
+ }
+
virtual ~CollisionSpaceMonitor(void)
{
- if (m_collisionSpace)
- {
- delete m_collisionSpace;
- m_kmodel = NULL;
- }
}
- void attachObject(void);
bool setCollisionState(motion_planning_srvs::CollisionCheckState::Request &req, motion_planning_srvs::CollisionCheckState::Response &res);
- virtual void setRobotDescription(robot_desc::URDF *file);
-
+ virtual void loadRobotDescription(void);
virtual void defaultPosition(void);
bool isMapUpdated(double sec);
protected:
- void addSelfCollisionGroups(unsigned int cid, robot_desc::URDF *model);
+ void collisionSpaceSubscribe(void);
- void collisionMapCallback(void);
+ void attachObjectCallback(const robot_msgs::AttachedObjectConstPtr &attachedObject);
+ void collisionMapCallback(const robot_msgs::CollisionMapConstPtr &collisionMap);
- virtual void beforeWorldUpdate(void);
- virtual void afterWorldUpdate(void);
- virtual void afterAttachBody(planning_models::KinematicModel::Link *link);
+ virtual void beforeWorldUpdate(const robot_msgs::CollisionMapConstPtr &collisionMap);
+ virtual void afterWorldUpdate(const robot_msgs::CollisionMapConstPtr &collisionMap);
+ virtual void afterAttachBody(const robot_msgs::AttachedObjectConstPtr &attachedObject, planning_models::KinematicModel::Link *link);
- robot_msgs::CollisionMap m_collisionMap;
- collision_space::EnvironmentModel *m_collisionSpace;
-
- // add or remove objects to be attached to a link
- robot_msgs::AttachedObject m_attachedObject;
-
- ros::Time m_lastMapUpdate;
+ boost::shared_ptr<collision_space::EnvironmentModel> m_collisionSpace;
+ ros::Subscriber m_collisionMapSubscriber;
+ ros::Subscriber m_attachedObjectSubscriber;
+ ros::ServiceServer m_setCollisionStateService;
+ ros::Time m_lastMapUpdate;
};
} // kinematic_planning
Modified: pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/KinematicStateMonitor.h
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/KinematicStateMonitor.h 2009-06-03 21:23:48 UTC (rev 16673)
+++ pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/KinematicStateMonitor.h 2009-06-03 21:52:15 UTC (rev 16674)
@@ -39,9 +39,9 @@
state the robot is currently in.
*/
-#include <ros/node.h>
-#include <ros/time.h>
+#include <ros/ros.h>
#include <ros/console.h>
+#include <boost/shared_ptr.hpp>
#include <urdf/URDF.h>
#include <planning_models/kinematic.h>
@@ -66,7 +66,7 @@
Subscribes to (name/type):
- @b "mechanism_model"/MechanismModel : position for each of the robot's joints
- - @b "odom_combined"/PoseWithCovariance : localized robot pose
+ - @b "localized_pose"/PoseWithCovariance : localized robot pose
Publishes to (name/type):
- None
@@ -92,42 +92,28 @@
{
public:
- planning_models::KinematicModel* getKModel(void) { return m_kmodel; }
- planning_models::KinematicModel::StateParams* getRobotState() { return m_robotState; }
-
- KinematicStateMonitor(ros::Node *node) : m_tf(*node, true, ros::Duration(1))
+
+ KinematicStateMonitor(void) : m_tf(*ros::Node::instance(), true, ros::Duration(1))
{
m_tf.setExtrapolationLimit(ros::Duration().fromSec(10));
- m_urdf = NULL;
- m_kmodel = NULL;
- m_robotState = NULL;
- m_node = node;
- m_basePos[0] = m_basePos[1] = m_basePos[2] = 0.0;
-
+ m_basePos[0] = m_basePos[1] = m_basePos[2] = 0.0;
m_includeBaseInState = false;
m_haveMechanismState = false;
m_haveBasePos = false;
- m_node->subscribe("mechanism_state", m_mechanismState, &KinematicStateMonitor::mechanismStateCallback, this, 1);
- m_node->subscribe("odom_combined", m_localizedPose, &KinematicStateMonitor::localizedPoseCallback, this, 1);
+ kinematicStateSubscribe();
}
virtual ~KinematicStateMonitor(void)
{
- if (m_urdf)
- delete m_urdf;
- if (m_robotState)
- delete m_robotState;
- if (m_kmodel)
- delete m_kmodel;
}
+ boost::shared_ptr<planning_models::KinematicModel> getKModel(void) const;
+ boost::shared_ptr<planning_models::KinematicModel::StateParams> getRobotState(void) const;
+
void setIncludeBaseInState(bool value);
- void setRobotDescriptionFromData(const char *data);
- void setRobotDescriptionFromFile(const char *filename);
- virtual void setRobotDescription(robot_desc::URDF *file);
virtual void loadRobotDescription(void);
virtual void defaultPosition(void);
@@ -141,38 +127,38 @@
protected:
+ void kinematicStateSubscribe(void);
+
virtual void stateUpdate(void);
virtual void baseUpdate(void);
- void localizedPoseCallback(void);
- void mechanismStateCallback(void);
+ void localizedPoseCallback(const robot_msgs::PoseWithCovarianceConstPtr &localizedPose);
+ void mechanismStateCallback(const robot_msgs::MechanismStateConstPtr &mechanismState);
+ ros::NodeHandle m_nodeHandle;
+ ros::Subscriber m_mechanismStateSubscriber;
+ ros::Subscriber m_localizedPoseSubscriber;
-
- ros::Node *m_node;
- tf::TransformListener m_tf;
- robot_desc::URDF *m_urdf;
- planning_models::KinematicModel *m_kmodel;
-
+ tf::TransformListener m_tf;
+
+ boost::shared_ptr<robot_desc::URDF> m_urdf;
+ boost::shared_ptr<planning_models::KinematicModel> m_kmodel;
+
// info about the pose; this is not placed in the robot's kinematic state
- bool m_haveBasePos;
- double m_basePos[3];
- tf::Pose m_pose;
- robot_msgs::PoseWithCovariance m_localizedPose;
+ bool m_haveBasePos;
+ double m_basePos[3];
+ tf::Pose m_pose;
// info about the robot's joints
- robot_msgs::MechanismState m_mechanismState;
- bool m_haveMechanismState;
+ bool m_haveMechanismState;
+ boost::shared_ptr<planning_models::KinematicModel::StateParams>
+ m_robotState;
- // the complete robot state
- planning_models::KinematicModel::StateParams *m_robotState;
-
// if this flag is true, the base position is included in the state as well
- bool m_includeBaseInState;
+ bool m_includeBaseInState;
- ros::Time m_lastStateUpdate;
- ros::Time m_lastBaseUpdate;
+ ros::Time m_lastStateUpdate;
+ ros::Time m_lastBaseUpdate;
};
} // kinematic_planning
-
Modified: pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/RKPBasicRequestLinkPosition.h
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/RKPBasicRequestLinkPosition.h 2009-06-03 21:23:48 UTC (rev 16673)
+++ pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/RKPBasicRequestLinkPosition.h 2009-06-03 21:52:15 UTC (rev 16674)
@@ -56,7 +56,7 @@
for (unsigned int i = 0 ; i < pc.size() ; ++i)
{
PoseConstraintEvaluator *pce = new PoseConstraintEvaluator();
- pce->use(m_model->kmodel, pc[i]);
+ pce->use(m_model->kmodel.get(), pc[i]);
m_pce.push_back(pce);
// if we have position constraints
Modified: pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/RKPConstraintEvaluator.h
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/RKPConstraintEvaluator.h 2009-06-03 21:23:48 UTC (rev 16673)
+++ pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/RKPConstraintEvaluator.h 2009-06-03 21:52:15 UTC (rev 16674)
@@ -40,6 +40,7 @@
#include <planning_models/kinematic.h>
#include <motion_planning_msgs/KinematicConstraints.h>
#include <angles/angles.h>
+#include <boost/shared_ptr.hpp>
#include <iostream>
#include <vector>
@@ -59,7 +60,7 @@
}
virtual void clear(void) = 0;
- virtual bool use(planning_models::KinematicModel *kmodel, const ros::Message *kc) = 0;
+ virtual bool use(const planning_models::KinematicModel *kmodel, const ros::Message *kc) = 0;
virtual bool decide(void) const = 0;
virtual void print(std::ostream &out = std::cout) const
{
@@ -76,7 +77,7 @@
m_link = NULL;
}
- virtual bool use(planning_models::KinematicModel *kmodel, const ros::Message *kc)
+ virtual bool use(const planning_models::KinematicModel *kmodel, const ros::Message *kc)
{
const motion_planning_msgs::PoseConstraint *pc = dynamic_cast<const motion_planning_msgs::PoseConstraint*>(kc);
if (pc)
@@ -85,7 +86,7 @@
return false;
}
- bool use(planning_models::KinematicModel *kmodel, const motion_planning_msgs::PoseConstraint &pc)
+ bool use(const planning_models::KinematicModel *kmodel, const motion_planning_msgs::PoseConstraint &pc)
{
m_link = kmodel->getLink(pc.robot_link);
m_pc = pc;
@@ -340,7 +341,7 @@
m_kce.clear();
}
- bool use(planning_models::KinematicModel *kmodel, const std::vector<motion_planning_msgs::PoseConstraint> &kc)
+ bool use(const planning_models::KinematicModel *kmodel, const std::vector<motion_planning_msgs::PoseConstraint> &kc)
{
clear();
bool result = true;
Modified: pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/RKPModelBase.h
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/RKPModelBase.h 2009-06-03 21:23:48 UTC (rev 16673)
+++ pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/RKPModelBase.h 2009-06-03 21:52:15 UTC (rev 16674)
@@ -40,6 +40,7 @@
#include <collision_space/environment.h>
#include <planning_models/kinematic.h>
#include <boost/thread/mutex.hpp>
+#include <boost/shared_ptr.hpp>
#include <string>
namespace kinematic_planning
@@ -52,20 +53,18 @@
{
groupID = -1;
collisionSpaceID = 0;
- collisionSpace = NULL;
- kmodel = NULL;
}
virtual ~RKPModelBase(void)
{
}
- boost::mutex lock;
- collision_space::EnvironmentModel *collisionSpace;
- unsigned int collisionSpaceID;
- planning_models::KinematicModel *kmodel;
- std::string groupName;
- int groupID;
+ boost::mutex lock;
+ boost::shared_ptr<collision_space::EnvironmentModel> collisionSpace;
+ unsigned int collisionSpaceID;
+ boost::shared_ptr<planning_models::KinematicModel> kmodel;
+ std::string groupName;
+ int groupID;
};
} // kinematic_planning
Modified: pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/ompl_extensions/RKPSpaceInformation.h
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/ompl_extensions/RKPSpaceInformation.h 2009-06-03 21:23:48 UTC (rev 16673)
+++ pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/ompl_extensions/RKPSpaceInformation.h 2009-06-03 21:52:15 UTC (rev 16674)
@@ -39,7 +39,7 @@
#include <ompl/extension/samplingbased/kinematic/SpaceInformationKinematic.h>
#include "kinematic_planning/RKPModelBase.h"
-
+#include <boost/shared_ptr.hpp>
#include <vector>
namespace kinematic_planning
@@ -148,11 +148,11 @@
}
}
- double m_divisions;
- planning_models::KinematicModel *m_kmodel;
- int m_groupID;
- std::vector<int> m_floatingJoints;
- std::vector<int> m_planarJoints;
+ double m_divisions;
+ boost::shared_ptr<planning_models::KinematicModel> m_kmodel;
+ int m_groupID;
+ std::vector<int> m_floatingJoints;
+ std::vector<int> m_planarJoints;
};
Modified: pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/ompl_extensions/RKPStateValidator.h
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/ompl_extensions/RKPStateValidator.h 2009-06-03 21:23:48 UTC (rev 16673)
+++ pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/ompl_extensions/RKPStateValidator.h 2009-06-03 21:52:15 UTC (rev 16674)
@@ -72,7 +72,7 @@
void setPoseConstraints(const std::vector<motion_planning_msgs::PoseConstraint> &kc)
{
- m_kce.use(m_model->kmodel, kc);
+ m_kce.use(m_model->kmodel.get(), kc);
}
void clearConstraints(void)
Modified: pkg/trunk/motion_planning/ompl_planning/src/display_planner_collision_model.cpp
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/src/display_planner_collision_model.cpp 2009-06-03 21:23:48 UTC (rev 16673)
+++ pkg/trunk/motion_planning/ompl_planning/src/display_planner_collision_model.cpp 2009-06-03 21:52:15 UTC (rev 16674)
@@ -97,12 +97,10 @@
{
public:
- DisplayPlannerCollisionModel(ros::Node *node) : CollisionSpaceMonitor(node)
+ DisplayPlannerCollisionModel(void) : CollisionSpaceMonitor()
{
- id_ = 0;
-
- m_node->advertise<visualization_msgs::Marker>("visualization_marker", 10240);
- m_node->advertise<robot_msgs::AttachedObject>("attach_object", 1);
+ id_ = 0;
+ visualizationMarkerPublisher_ = m_nodeHandle.advertise<visualization_msgs::Marker>("visualization_marker", 10240);
}
virtual ~DisplayPlannerCollisionModel(void)
@@ -112,28 +110,28 @@
void run(void)
{
loadRobotDescription();
- m_node->spin();
+ ros::spin();
}
protected:
- void afterWorldUpdate(void)
+ void afterWorldUpdate(const robot_msgs::CollisionMapConstPtr &collisionMap)
{
- CollisionSpaceMonitor::afterWorldUpdate();
+ CollisionSpaceMonitor::afterWorldUpdate(collisionMap);
- unsigned int n = m_collisionMap.get_boxes_size();
+ unsigned int n = collisionMap->get_boxes_size();
for (unsigned int i = 0 ; i < n ; ++i)
{
- robot_msgs::Point32 &point = m_collisionMap.boxes[i].center;
+ const robot_msgs::Point32 &point = collisionMap->boxes[i].center;
sendPoint(point.x, point.y, point.z,
std::max(std::max(point.x, point.y), point.z),
- m_collisionMap.header, 1);
+ collisionMap->header, 1);
}
}
- void afterAttachBody(planning_models::KinematicModel::Link *link)
+ void afterAttachBody(const robot_msgs::AttachedObjectConstPtr &attachedObject, planning_models::KinematicModel::Link *link)
{
- roslib::Header header = m_attachedObject.header;
+ roslib::Header header = attachedObject->header;
header.frame_id = link->name;
for (unsigned int i = 0 ; i < link->attachedBodies.size() ; ++i)
{
@@ -144,6 +142,7 @@
sendPoint(v.x(), v.y(), v.z(), std::max(std::max(box->size[0], box->size[1]), box->size[2] / 2.0), header, 0);
}
}
+ afterAttachBody(attachedObject, link);
}
private:
@@ -179,20 +178,20 @@
mk.color.g = 1.0;
mk.color.b = 0.04;
}
-
- m_node->publish("visualization_marker", mk);
+
+ visualizationMarkerPublisher_.publish(mk);
}
- int id_;
-
+ int id_;
+ ros::Publisher visualizationMarkerPublisher_;
+
};
int main(int argc, char **argv)
{
- ros::init(argc, argv);
+ ros::init(argc, argv, "display_planner_collision_model");
- ros::Node node("display_planner_collision_model");
- DisplayPlannerCollisionModel disp(&node);
+ DisplayPlannerCollisionModel disp;
disp.run();
return 0;
Modified: pkg/trunk/motion_planning/ompl_planning/src/helpers/CollisionSpaceMonitor.cpp
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/src/helpers/CollisionSpaceMonitor.cpp 2009-06-03 21:23:48 UTC (rev 16673)
+++ pkg/trunk/motion_planning/ompl_planning/src/helpers/CollisionSpaceMonitor.cpp 2009-06-03 21:52:15 UTC (rev 16674)
@@ -38,24 +38,31 @@
namespace kinematic_planning
{
- static inline double radiusOfBox(robot_msgs::Point32 &point)
+ static inline double radiusOfBox(const robot_msgs::Point32 &point)
{
return std::max(std::max(point.x, point.y), point.z) * 1.73;
}
}
-void kinematic_planning::CollisionSpaceMonitor::attachObject(void)
+void kinematic_planning::CollisionSpaceMonitor::collisionSpaceSubscribe(void)
{
+ m_collisionMapSubscriber = m_nodeHandle.subscribe("collision_map", 1, &CollisionSpaceMonitor::collisionMapCallback, this);
+ m_attachedObjectSubscriber = m_nodeHandle.subscribe("attach_object", 1, &CollisionSpaceMonitor::attachObjectCallback, this);
+ m_setCollisionStateService = m_nodeHandle.advertiseService("set_collision_state", &CollisionSpaceMonitor::setCollisionState, this);
+}
+
+void kinematic_planning::CollisionSpaceMonitor::attachObjectCallback(const robot_msgs::AttachedObjectConstPtr &attachedObject)
+{
m_collisionSpace->lock();
- int model_id = m_collisionSpace->getModelID(m_attachedObject.robot_name);
- planning_models::KinematicModel::Link *link = model_id >= 0 ? m_kmodel->getLink(m_attachedObject.link_name) : NULL;
+ int model_id = m_collisionSpace->getModelID(attachedObject->robot_name);
+ planning_models::KinematicModel::Link *link = model_id >= 0 ? m_kmodel->getLink(attachedObject->link_name) : NULL;
if (link)
{
// clear the previously attached bodies
for (unsigned int i = 0 ; i < link->attachedBodies.size() ; ++i)
delete link->attachedBodies[i];
- unsigned int n = m_attachedObject.get_objects_size();
+ unsigned int n = attachedObject->get_objects_size();
link->attachedBodies.resize(n);
// create the new ones
@@ -65,31 +72,31 @@
robot_msgs::PointStamped center;
robot_msgs::PointStamped centerP;
- center.point.x = m_attachedObject.objects[i].center.x;
- center.point.y = m_attachedObject.objects[i].center.y;
- center.point.z = m_attachedObject.objects[i].center.z;
- center.header = m_attachedObject.header;
- m_tf.transformPoint(m_attachedObject.link_name, center, centerP);
+ center.point.x = attachedObject->objects[i].center.x;
+ center.point.y = attachedObject->objects[i].center.y;
+ center.point.z = attachedObject->objects[i].center.z;
+ center.header = attachedObject->header;
+ m_tf.transformPoint(attachedObject->link_name, center, centerP);
link->attachedBodies[i]->attachTrans.setOrigin(btVector3(centerP.point.x, centerP.point.y, centerP.point.z));
// this is a HACK! we should have orientation
planning_models::shapes::Box *box = new planning_models::shapes::Box();
- box->size[0] = m_attachedObject.objects[i].max_bound.x - m_attachedObject.objects[i].min_bound.x;
- box->size[1] = m_attachedObject.objects[i].max_bound.y - m_attachedObject.objects[i].min_bound.y;
- box->size[2] = m_attachedObject.objects[i].max_bound.z - m_attachedObject.objects[i].min_bound.z;
+ box->size[0] = attachedObject->objects[i].max_bound.x - attachedObject->objects[i].min_bound.x;
+ box->size[1] = attachedObject->objects[i].max_bound.y - attachedObject->objects[i].min_bound.y;
+ box->size[2] = attachedObject->objects[i].max_bound.z - attachedObject->objects[i].min_bound.z;
link->attachedBodies[i]->shape = box;
}
// update the collision model
m_collisionSpace->updateAttachedBodies(model_id);
- ROS_INFO("Link '%s' on '%s' has %d objects attached", m_attachedObject.link_name.c_str(), m_attachedObject.robot_name.c_str(), n);
+ ROS_INFO("Link '%s' on '%s' has %d objects attached", attachedObject->link_name.c_str(), attachedObject->robot_name.c_str(), n);
}
else
- ROS_WARN("Unable to attach object to link '%s' on '%s'", m_attachedObject.link_name.c_str(), m_attachedObject.robot_name.c_str());
+ ROS_WARN("Unable to attach object to link '%s' on '%s'", attachedObject->link_name.c_str(), attachedObject->robot_name.c_str());
m_collisionSpace->unlock();
if (link)
- afterAttachBody(link);
+ afterAttachBody(attachedObject, link);
}
bool kinematic_planning::CollisionSpaceMonitor::setCollisionState(motion_planning_srvs::CollisionCheckState::Request &req, motion_planning_srvs::CollisionCheckState::Response &res)
@@ -108,20 +115,26 @@
return true;
}
-void kinematic_planning::CollisionSpaceMonitor::setRobotDescription(robot_desc::URDF *file)
+void kinematic_planning::CollisionSpaceMonitor::loadRobotDescription(void)
{
- KinematicStateMonitor::setRobotDescription(file);
+ KinematicStateMonitor::loadRobotDescription();
if (m_kmodel)
{
std::vector<std::string> links;
- robot_desc::URDF::Group *g = file->getGroup("collision_check");
+ robot_desc::URDF::Group *g = m_urdf->getGroup("collision_check");
if (g && g->hasFlag("collision"))
links = g->linkNames;
+
m_collisionSpace->lock();
unsigned int cid = m_collisionSpace->addRobotModel(m_kmodel, links);
+ std::vector<robot_desc::URDF::Group*> groups;
+ m_urdf->getGroups(groups);
+
+ for (unsigned int i = 0 ; i < groups.size() ; ++i)
+ if (groups[i]->hasFlag("self_collision"))
+ m_collisionSpace->addSelfCollisionGroup(cid, groups[i]->linkNames);
m_collisionSpace->unlock();
- addSelfCollisionGroups(cid, file);
- }
+ }
}
void kinematic_planning::CollisionSpaceMonitor::defaultPosition(void)
@@ -139,35 +152,23 @@
return true;
}
-void kinematic_planning::CollisionSpaceMonitor::addSelfCollisionGroups(unsigned int cid, robot_desc::URDF *model)
+void kinematic_planning::CollisionSpaceMonitor::collisionMapCallback(const robot_msgs::CollisionMapConstPtr &collisionMap)
{
- std::vector<robot_desc::URDF::Group*> groups;
- model->getGroups(groups);
-
- m_collisionSpace->lock();
- for (unsigned int i = 0 ; i < groups.size() ; ++i)
- if (groups[i]->hasFlag("self_collision"))
- m_collisionSpace->addSelfCollisionGroup(cid, groups[i]->linkNames);
- m_collisionSpace->unlock();
-}
-
-void kinematic_planning::CollisionSpaceMonitor::collisionMapCallback(void)
-{
- unsigned int n = m_collisionMap.get_boxes_size();
+ unsigned int n = collisionMap->get_boxes_size();
ROS_DEBUG("Received %u points (collision map)", n);
- beforeWorldUpdate();
+ beforeWorldUpdate(collisionMap);
ros::WallTime startTime = ros::WallTime::now();
double *data = new double[4 * n];
for (unsigned int i = 0 ; i < n ; ++i)
{
unsigned int i4 = i * 4;
- data[i4 ] = m_collisionMap.boxes[i].center.x;
- data[i4 + 1] = m_collisionMap.boxes[i].center.y;
- data[i4 + 2] = m_collisionMap.boxes[i].center.z;
+ data[i4 ] = collisionMap->boxes[i].center.x;
+ data[i4 + 1] = collisionMap->boxes[i].center.y;
+ data[i4 + 2] = collisionMap->boxes[i].center.z;
- data[i4 + 3] = radiusOfBox(m_collisionMap.boxes[i].extents);
+ data[i4 + 3] = radiusOfBox(collisionMap->boxes[i].extents);
}
m_collisionSpace->lock();
@@ -181,18 +182,18 @@
ROS_DEBUG("Updated world model in %f seconds", tupd);
m_lastMapUpdate = ros::Time::now();
- afterWorldUpdate();
+ afterWorldUpdate(collisionMap);
}
-void kinematic_planning::CollisionSpaceMonitor::beforeWorldUpdate(void)
+void kinematic_planning::CollisionSpaceMonitor::beforeWorldUpdate(const robot_msgs::CollisionMapConstPtr &collisionMap)
{
}
-void kinematic_planning::CollisionSpaceMonitor::afterWorldUpdate(void)
+void kinematic_planning::CollisionSpaceMonitor::afterWorldUpdate(const robot_msgs::CollisionMapConstPtr &collisionMap)
{
}
-void kinematic_planning::CollisionSpaceMonitor::afterAttachBody(planning_models::KinematicModel::Link *link)
+void kinematic_planning::CollisionSpaceMonitor::afterAttachBody(const robot_msgs::AttachedObjectConstPtr &attachedObject,
+ planning_models::KinematicModel::Link *link)
{
}
-
Modified: pkg/trunk/motion_planning/ompl_planning/src/helpers/KinematicStateMonitor.cpp
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/src/helpers/KinematicStateMonitor.cpp 2009-06-03 21:23:48 UTC (rev 16673)
+++ pkg/trunk/motion_planning/ompl_planning/src/helpers/KinematicStateMonitor.cpp 2009-06-03 21:52:15 UTC (rev 16674)
@@ -36,54 +36,49 @@
#include "kinematic_planning/KinematicStateMonitor.h"
-void kinematic_planning::KinematicStateMonitor::setIncludeBaseInState(bool value)
+void kinematic_planning::KinematicStateMonitor::kinematicStateSubscribe(void)
{
- m_includeBaseInState = value;
+ m_mechanismStateSubscriber = m_nodeHandle.subscribe("mechanism_state", 1, &KinematicStateMonitor::mechanismStateCallback, this);
+ m_localizedPoseSubscriber = m_nodeHandle.subscribe("localized_pose", 1, &KinematicStateMonitor::localizedPoseCallback, this);
}
-void kinematic_planning::KinematicStateMonitor::setRobotDescriptionFromData(const char *data)
-{
- robot_desc::URDF *file = new robot_desc::URDF();
- if (file->loadString(data))
- setRobotDescription(file);
- else
- delete file;
+boost::shared_ptr<planning_models::KinematicM...
[truncated message content] |
|
From: <hsu...@us...> - 2009-06-03 22:04:37
|
Revision: 16676
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16676&view=rev
Author: hsujohnhsu
Date: 2009-06-03 22:04:35 +0000 (Wed, 03 Jun 2009)
Log Message:
-----------
update robot integrated tests.
Modified Paths:
--------------
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/CMakeLists.txt
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_image.xml
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_scan.xml
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.py
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_scan.world
Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/CMakeLists.txt
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/CMakeLists.txt 2009-06-03 22:00:37 UTC (rev 16675)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/CMakeLists.txt 2009-06-03 22:04:35 UTC (rev 16676)
@@ -2,14 +2,28 @@
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
rospack(test_pr2_sensors_gazebo)
+
+# For now, the tests fail on 64-bit for some reason.
+# TODO: more thoroughly test and wrap up this 32-bit check
+include(CMakeDetermineSystem)
+if(CMAKE_SYSTEM_PROCESSOR MATCHES "i686" OR
+ CMAKE_SYSTEM_PROCESSOR MATCHES "i386" OR
+ CMAKE_SYSTEM_PROCESSOR MATCHES "unknown")
+ set(_is32bit TRUE)
+else(CMAKE_SYSTEM_PROCESSOR MATCHES "i686" OR
+ CMAKE_SYSTEM_PROCESSOR MATCHES "i386" OR
+ CMAKE_SYSTEM_PROCESSOR MATCHES "unknown")
+ set(_is32bit FALSE)
+endif(CMAKE_SYSTEM_PROCESSOR MATCHES "i686" OR
+ CMAKE_SYSTEM_PROCESSOR MATCHES "i386" OR
+ CMAKE_SYSTEM_PROCESSOR MATCHES "unknown")
+
+if(CMAKE_SYSTEM_NAME MATCHES "Linux" AND _is32bit)
rospack_add_rostest(test_scan.xml)
+rospack_add_rostest(test_camera.xml)
rospack_add_rostest(hztest_pr2_scan.xml)
+rospack_add_rostest(hztest_pr2_image.xml)
+endif(CMAKE_SYSTEM_NAME MATCHES "Linux" AND _is32bit)
-# below need xvfb-run to test on build machine
-# These tests are moved into the future, pending resolution of xvfb issues
-# (#957)
-#rospack_add_rostest_graphical(hztest_pr2_image.xml)
-#rospack_add_rostest_graphical(test_camera.xml)
-rospack_add_rostest_future(hztest_pr2_image.xml)
-rospack_add_rostest_future(test_camera.xml)
+
Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_image.xml
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_image.xml 2009-06-03 22:00:37 UTC (rev 16675)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_image.xml 2009-06-03 22:04:35 UTC (rev 16676)
@@ -9,13 +9,13 @@
<include file="$(find stereo_image_proc)/stereo.launch" />
<!-- Run hztest -->
- <!-- Test for publication of 'left axis camera image publish rate' topic -->
- <test test-name="hztest_test_axis_left_image" pkg="rostest" type="hztest" time-limit="60" name="axis_left_image_test">
+ <!-- Test for publication rate of 'stereo/cloud' topic -->
+ <test test-name="hztest_test_stereo_cloud" pkg="rostest" type="hztest" time-limit="60" name="stereo_cloud_test">
<!-- The topic to listen for -->
- <param name="topic" value="/axis_l/image" />
+ <param name="topic" value="/stereo/cloud" />
<!-- The expected publication rate [Hz]. Set to 0.0 to only check that
at least one message is received. -->
- <param name="hz" value="15.0" />
+ <param name="hz" value="20.0" />
<!-- Acceptable error in the publication rate [Hz]. Ignored if hz is set
to 0.0. -->
<param name="hzerror" value="1.0" />
@@ -29,15 +29,6 @@
<param name="check_intervals" value="false" />
</test>
- <!-- Test for publication of 'right axis camera image publish rate' topic -->
- <test test-name="hztest_test_axis_right_image" pkg="rostest" type="hztest" time-limit="60" name="axis_right_image_test">
- <param name="topic" value="/axis_r/image" />
- <param name="hz" value="15.0" />
- <param name="hzerror" value="1.0" />
- <param name="test_duration" value="2.0" />
- <param name="check_intervals" value="false" />
- </test>
-
<!-- Test for publication of 'left stereo camera image publish rate' topic -->
<test test-name="hztest_test_stereo_left_image" pkg="rostest" type="hztest" time-limit="60" name="stereo_left_image_test">
<param name="topic" value="/stereo/left/image" />
Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_scan.xml
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_scan.xml 2009-06-03 22:00:37 UTC (rev 16675)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_scan.xml 2009-06-03 22:04:35 UTC (rev 16676)
@@ -37,15 +37,4 @@
<param name="check_intervals" value="false" />
</test>
- <!-- Test for publication of 'axis_left_ptz_state' topic. -->
- <test test-name="hztest_test_axis_left_ptz_state" pkg="rostest" type="hztest" time-limit="50" name="axis_left_ptz_state_test">
- <!-- Note how we use a different parameter namespace and node name
- for this test (axis_left/ptz_state_test vs. scan_test). -->
- <param name="topic" value="/axis_l/ptz_state" />
- <param name="hz" value="15.0" />
- <param name="hzerror" value="1.0" />
- <param name="test_duration" value="2.0" />
- <param name="check_intervals" value="false" />
- </test>
-
</launch>
Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.py
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.py 2009-06-03 22:00:37 UTC (rev 16675)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.py 2009-06-03 22:04:35 UTC (rev 16676)
@@ -53,203 +53,100 @@
FAIL_COUNT_TOL = 10
TARGET_RANGES = [
-10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
-10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
-10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
-10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
-10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907,
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[truncated message content] |
|
From: <is...@us...> - 2009-06-03 23:42:59
|
Revision: 16682
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16682&view=rev
Author: isucan
Date: 2009-06-03 23:42:57 +0000 (Wed, 03 Jun 2009)
Log Message:
-----------
fixing self_watch
Modified Paths:
--------------
pkg/trunk/motion_planning/ompl_planning/src/display_planner_collision_model.cpp
pkg/trunk/motion_planning/ompl_planning/src/helpers/KinematicStateMonitor.cpp
pkg/trunk/motion_planning/ompl_planning/src/motion_planner.cpp
pkg/trunk/motion_planning/plan_ompl_path/src/plan_kinematic_path.cpp
pkg/trunk/util/self_watch/self_watch.cpp
Modified: pkg/trunk/motion_planning/ompl_planning/src/display_planner_collision_model.cpp
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/src/display_planner_collision_model.cpp 2009-06-03 23:39:25 UTC (rev 16681)
+++ pkg/trunk/motion_planning/ompl_planning/src/display_planner_collision_model.cpp 2009-06-03 23:42:57 UTC (rev 16682)
@@ -110,7 +110,8 @@
void run(void)
{
loadRobotDescription();
- ros::spin();
+ if (loadedRobot())
+ ros::spin();
}
protected:
Modified: pkg/trunk/motion_planning/ompl_planning/src/helpers/KinematicStateMonitor.cpp
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/src/helpers/KinematicStateMonitor.cpp 2009-06-03 23:39:25 UTC (rev 16681)
+++ pkg/trunk/motion_planning/ompl_planning/src/helpers/KinematicStateMonitor.cpp 2009-06-03 23:42:57 UTC (rev 16682)
@@ -96,9 +96,11 @@
void kinematic_planning::KinematicStateMonitor::waitForState(void)
{
- ROS_INFO("Waiting for mechanism state ...");
while (m_nodeHandle.ok() && (m_haveMechanismState ^ loadedRobot()))
+ {
+ ROS_INFO("Waiting for mechanism state ...");
ros::Duration().fromSec(0.05).sleep();
+ }
ROS_INFO("Mechanism state received!");
}
@@ -174,6 +176,7 @@
void kinematic_planning::KinematicStateMonitor::mechanismStateCallback(const robot_msgs::MechanismStateConstPtr &mechanismState)
{
bool change = false;
+
if (m_robotState)
{
static bool first_time = true;
Modified: pkg/trunk/motion_planning/ompl_planning/src/motion_planner.cpp
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/src/motion_planner.cpp 2009-06-03 23:39:25 UTC (rev 16681)
+++ pkg/trunk/motion_planning/ompl_planning/src/motion_planner.cpp 2009-06-03 23:42:57 UTC (rev 16682)
@@ -234,17 +234,20 @@
void run(void)
{
loadRobotDescription();
+
std::vector<std::string> mlist;
knownModels(mlist);
- ROS_DEBUG("Known models:");
+ ROS_INFO("Known models:");
for (unsigned int i = 0 ; i < mlist.size() ; ++i)
- ROS_DEBUG(" * %s", mlist[i].c_str());
+ ROS_INFO(" * %s", mlist[i].c_str());
- waitForState();
startPublishingStatus();
if (mlist.size() > 0)
+ {
+ ROS_INFO("Motion planning is now available.");
ros::spin();
+ }
else
ROS_ERROR("No robot models loaded. OMPL planning node cannot start.");
}
Modified: pkg/trunk/motion_planning/plan_ompl_path/src/plan_kinematic_path.cpp
===================================================================
--- pkg/trunk/motion_planning/plan_ompl_path/src/plan_kinematic_path.cpp 2009-06-03 23:39:25 UTC (rev 16681)
+++ pkg/trunk/motion_planning/plan_ompl_path/src/plan_kinematic_path.cpp 2009-06-03 23:42:57 UTC (rev 16682)
@@ -70,6 +70,7 @@
{
plan_id_ = -1;
robot_stopped_ = true;
+ goalA_ = true;
// we use the topic for sending commands to the controller, so we need to advertise it
jointCommandPublisher_ = m_nodeHandle.advertise<robot_msgs::JointTraj>("right_arm/trajectory_controller/trajectory_command", 1);
@@ -182,34 +183,22 @@
loadRobotDescription();
if (loadedRobot())
{
- ros::Duration d(1.0);
- d.sleep();
-
- while (m_nodeHandle.ok())
- {
- ros::Duration d(10.0);
-
- runRightArmToPositionA();
-
- d.sleep();
-
- runRightArmToPositionB();
-
- d.sleep();
- }
-
- /*
- sleep(30);
-
- plan->runRightArmToCoordinates();
- */
-
+ goalTimer_ = m_nodeHandle.createTimer(ros::Duration(10.0), &PlanKinematicPath::changeGoal, this);
ros::spin();
}
}
protected:
-
+
+ void changeGoal(const ros::TimerEvent &e)
+ {
+ if (goalA_)
+ runRightArmToPositionA();
+ else
+ runRightArmToPositionB();
+ goalA_ = !goalA_;
+ }
+
// handle new status message
void receiveStatus(const motion_planning_msgs::KinematicPlanStatusConstPtr &planStatus)
{
@@ -310,7 +299,9 @@
int plan_id_;
bool robot_stopped_;
-
+ bool goalA_;
+ ros::Timer goalTimer_;
+
ros::Publisher jointCommandPublisher_;
ros::Publisher cartesianCommandPublisher_;
ros::Publisher displayKinematicPathPublisher_;
Modified: pkg/trunk/util/self_watch/self_watch.cpp
===================================================================
--- pkg/trunk/util/self_watch/self_watch.cpp 2009-06-03 23:39:25 UTC (rev 16681)
+++ pkg/trunk/util/self_watch/self_watch.cpp 2009-06-03 23:42:57 UTC (rev 16682)
@@ -35,7 +35,7 @@
/** \author Ioan Sucan */
-#include <ros/node.h>
+#include <ros/ros.h>
#include <collision_space/environmentODE.h>
#include <robot_msgs/MechanismState.h>
@@ -43,39 +43,35 @@
{
public:
- SelfWatch(void) : m_node("self_watch")
+ SelfWatch(void)
{
setupCollisionSpace();
- m_node.subscribe("mechanism_state", m_mechanismState, &SelfWatch::mechanismStateCallback, this, 1);
+ m_mechanismStateSubscriber = m_nodeHandle.subscribe("mechanism_state", 1, &SelfWatch::mechanismStateCallback, this);
}
void run(void)
{
- m_node.spin();
+ ros::spin();
}
protected:
void setupCollisionSpace(void)
{
- m_robotState = NULL;
- m_kmodel = NULL;
- m_collisionSpace = NULL;
-
// increase the robot parts by x%, to detect collisions before they happen
- m_node.param("self_collision_scale_factor", m_scaling, 1.2);
- m_node.param("self_collision_padding", m_padding, 0.05);
+ m_nodeHandle.param("self_collision_scale_factor", m_scaling, 1.2);
+ m_nodeHandle.param("self_collision_padding", m_padding, 0.05);
// load the string description of the robot
std::string content;
- if (m_node.getParam("robot_description", content))
+ if (m_nodeHandle.getParam("robot_description", content))
{
// parse the description
robot_desc::URDF *file = new robot_desc::URDF();
if (file->loadString(content.c_str()))
{
// create a kinematic model out of the parsed description
- m_kmodel = new planning_models::KinematicModel();
+ m_kmodel = boost::shared_ptr<planning_models::KinematicModel>(new planning_models::KinematicModel());
m_kmodel->setVerbose(false);
m_kmodel->build(*file);
@@ -86,7 +82,7 @@
// create a state that can be used to monitor the
// changes in the joints of the kinematic model
- m_robotState = m_kmodel->newStateParams();
+ m_robotState = boost::shared_ptr<planning_models::KinematicModel::StateParams>(m_kmodel->newStateParams());
// make sure the transforms caused by the planar and
// floating joints are identity, to be compatible with
@@ -95,17 +91,17 @@
m_robotState->setInRobotFrame();
// create a new collision space
- m_collisionSpace = new collision_space::EnvironmentModelODE();
+ m_collisionSpace = boost::shared_ptr<collision_space::EnvironmentModel>(new collision_space::EnvironmentModelODE());
// enable self collision checking (just in case default is disabled)
m_collisionSpace->setSelfCollision(true);
-
+
// get the list of links that are enabled for collision checking
std::vector<std::string> links;
robot_desc::URDF::Group *g = file->getGroup("collision_check");
if (g && g->hasFlag("collision"))
links = g->linkNames;
-
+
// print some info, just to easily double-check the loaded data
if (links.empty())
ROS_WARN("No links have been enabled for collision checking");
@@ -136,7 +132,7 @@
if (nscgroups == 0)
ROS_WARN("No self-collision checking enabled");
-
+
ROS_INFO("Self-collision monitor is active, with scaling %g, padding %g", m_scaling, m_padding);
}
else
@@ -146,29 +142,34 @@
ROS_ERROR("Could not load robot description");
}
- void mechanismStateCallback(void)
+ void mechanismStateCallback(const robot_msgs::MechanismStateConstPtr &mechanismState)
{
bool change = false;
+
if (m_robotState)
{
- unsigned int n = m_mechanismState.get_joint_states_size();
+ static bool firstTime = true;
+ unsigned int n = mechanismState->get_joint_states_size();
for (unsigned int i = 0 ; i < n ; ++i)
{
- planning_models::KinematicModel::Joint* joint = m_kmodel->getJoint(m_mechanismState.joint_states[i].name);
+ planning_models::KinematicModel::Joint* joint = m_kmodel->getJoint(mechanismState->joint_states[i].name);
if (joint)
{
if (joint->usedParams == 1)
{
- double pos = m_mechanismState.joint_states[i].position;
- bool this_changed = m_robotState->setParamsJoint(&pos, m_mechanismState.joint_states[i].name);
+ double pos = mechanismState->joint_states[i].position;
+ bool this_changed = m_robotState->setParamsJoint(&pos, mechanismState->joint_states[i].name);
change = change || this_changed;
}
- // else
- // ROS_WARN("Incorrect number of parameters: %s (expected %d, had 1)", m_mechanismState.joint_states[i].name.c_str(), joint->usedParams);
+ else
+ if (firstTime)
+ ROS_WARN("Incorrect number of parameters: %s (expected %d, had 1)", mechanismState->joint_states[i].name.c_str(), joint->usedParams);
}
else
- ROS_ERROR("Unknown joint: %s", m_mechanismState.joint_states[i].name.c_str());
+ if (firstTime)
+ ROS_ERROR("Unknown joint: %s", mechanismState->joint_states[i].name.c_str());
}
+ firstTime = false;
}
if (change)
stateUpdate();
@@ -204,32 +205,30 @@
}
}
- ros::Node m_node;
-
+ ros::NodeHandle m_nodeHandle;
+ ros::Subscriber m_mechanismStateSubscriber;
+
// we don't want to detect a collision after it happened, but this
// is what collision checkers do, so we scale the robot up by a
// small factor; when a collision is found between the inflated
// parts, the robot should take action to preserve itself
- double m_scaling;
- double m_padding;
+ double m_scaling;
+ double m_padding;
// the complete robot state
- planning_models::KinematicModel::StateParams *m_robotState;
+ boost::shared_ptr<planning_models::KinematicModel::StateParams> m_robotState;
// the kinematic model
- planning_models::KinematicModel *m_kmodel;
+ boost::shared_ptr<planning_models::KinematicModel> m_kmodel;
// the collision space
- collision_space::EnvironmentModel *m_collisionSpace;
-
-
- robot_msgs::MechanismState m_mechanismState;
+ boost::shared_ptr<collision_space::EnvironmentModel> m_collisionSpace;
};
int main(int argc, char **argv)
{
- ros::init(argc, argv);
+ ros::init(argc, argv, "self_watch");
SelfWatch sw;
sw.run();
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <is...@us...> - 2009-06-04 01:22:21
|
Revision: 16693
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16693&view=rev
Author: isucan
Date: 2009-06-04 00:28:18 +0000 (Thu, 04 Jun 2009)
Log Message:
-----------
yaml files to replace information from groups
Added Paths:
-----------
pkg/trunk/motion_planning/planning_models/planning.yaml
pkg/trunk/world_models/collision_space/collision_checks.yaml
Added: pkg/trunk/motion_planning/planning_models/planning.yaml
===================================================================
--- pkg/trunk/motion_planning/planning_models/planning.yaml (rev 0)
+++ pkg/trunk/motion_planning/planning_models/planning.yaml 2009-06-04 00:28:18 UTC (rev 16693)
@@ -0,0 +1,74 @@
+## This file should be loaded under /planning
+
+## the list of groups for which motion planning can be performed
+group_list:
+ base
+ left_arm
+ right_arm
+ arms
+ base_left_arm
+ base_right_arm
+ base_arms
+
+## the definition of each group
+groups:
+
+ base:
+ links:
+ base_link
+ planner_configs:
+ RRTConfig1 SBLConfig1
+
+ left_arm:
+ links:
+ l_shoulder_pan_link
+ l_shoulder_lift_link
+ l_upper_arm_roll_link
+ l_upper_arm_link
+ l_elbow_flex_link
+ l_forearm_roll_link
+ l_forearm_link
+ l_wrist_flex_link
+ l_wrist_roll_link
+ planner_configs:
+ RRTConfig2 SBLConfig2
+
+ right_arm:
+ links:
+ r_shoulder_pan_link
+ r_shoulder_lift_link
+ r_upper_arm_roll_link
+ r_upper_arm_link
+ r_elbow_flex_link
+ r_forearm_roll_link
+ r_forearm_link
+ r_wrist_flex_link
+ r_wrist_roll_link
+ planner_configs:
+ RRTConfig2 SBLConfig2
+
+## the planner configurations; each config must have a type, which specifies
+## the planner to be used; other parameters can be specified as well
+
+planner_configs:
+
+ RRTConfig1:
+ type: RRT
+ range: 0.75
+
+ SBLConfig1:
+ type: SBL
+ projection: 0 1
+ celldim: 1 1
+ range: 0.5
+
+ RRTConfig2:
+ type: RRT
+ range: 0.75
+
+ SBLConfig2:
+ type: SBL
+ projection: 5 6
+ celldim: 0.1 0.1
+
+
\ No newline at end of file
Added: pkg/trunk/world_models/collision_space/collision_checks.yaml
===================================================================
--- pkg/trunk/world_models/collision_space/collision_checks.yaml (rev 0)
+++ pkg/trunk/world_models/collision_space/collision_checks.yaml 2009-06-04 00:28:18 UTC (rev 16693)
@@ -0,0 +1,76 @@
+## This file should be loaded under /collision
+
+
+## links for which collision checking with the environment should be performed
+collision_links:
+ base_link
+ torso_lift_link
+ head_pan_link
+ head_tilt_link
+ r_shoulder_pan_link
+ r_shoulder_lift_link
+ r_upper_arm_roll_link
+ r_upper_arm_link
+ r_elbow_flex_link
+ r_forearm_roll_link
+ r_forearm_link
+ r_wrist_flex_link
+ r_wrist_roll_link
+ r_gripper_palm_link
+ r_gripper_l_finger_link
+ r_gripper_r_finger_link
+ r_gripper_l_finger_tip_link
+ r_gripper_r_finger_tip_link
+
+## self collision is performed between groups of links, usually pairs
+self_collision_groups: scg1 scg2 scg3 scg4 scg5 scg6
+
+scg1:
+ r_forearm_link
+ base_link
+
+scg2:
+ r_gripper_palm_link
+ base_link
+
+scg3:
+ r_gripper_l_finger_link
+ base_link
+
+scg4:
+ r_gripper_r_finger_link
+ base_link
+
+scg5:
+ r_gripper_l_finger_tip_link
+ base_link
+
+scg6:
+ r_gripper_r_finger_tip_link
+ base_link
+
+
+## list of links that the robot can see with its sensors (used to remove
+## parts of the robot from scanned data)
+self_see:
+ l_upper_arm_roll_link
+ r_upper_arm_roll_link
+ l_elbow_flex_link
+ r_elbow_flex_link
+ l_forearm_roll_link
+ r_forearm_roll_link
+ l_wrist_flex_link
+ r_wrist_flex_link
+ l_wrist_roll_link
+ r_wrist_roll_link
+ l_gripper_l_finger_link
+ l_gripper_r_finger_link
+ r_gripper_l_finger_link
+ r_gripper_r_finger_link
+ r_shoulder_pan_link
+ r_shoulder_lift_link
+ l_shoulder_pan_link
+ l_shoulder_lift_link
+ torso_lift_link
+ base_link
+
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <ei...@us...> - 2009-06-04 01:22:45
|
Revision: 16694
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16694&view=rev
Author: eitanme
Date: 2009-06-04 00:29:45 +0000 (Thu, 04 Jun 2009)
Log Message:
-----------
Changing the name of the nav package to move_base as well as changing the name of the test_nav package to move_base_stage
Modified Paths:
--------------
pkg/trunk/demos/2dnav_erratic/manifest.xml
pkg/trunk/demos/2dnav_erratic/move_base/move_base.launch
pkg/trunk/demos/2dnav_gazebo/manifest.xml
pkg/trunk/demos/2dnav_pr2/manifest.xml
pkg/trunk/demos/2dnav_pr2/move_base/move_base.xml
pkg/trunk/demos/2dnav_pr2/move_base/move_base_voxel.xml
pkg/trunk/demos/2dnav_pr2/move_base_local/move_base_local.xml
pkg/trunk/demos/2dnav_pr2/move_base_local/move_base_local_voxel.xml
pkg/trunk/demos/erratic_gazebo/2dnav-gazebo-simple-fake_localization.xml
pkg/trunk/demos/erratic_gazebo/manifest.xml
pkg/trunk/demos/milestone2/milestone2_tests/manifest.xml
pkg/trunk/demos/milestone2/milestone2_tests/test/move_base.launch
pkg/trunk/highlevel/executive_python/manifest.xml
pkg/trunk/highlevel/move_base/CMakeLists.txt
pkg/trunk/highlevel/move_base/manifest.xml
pkg/trunk/highlevel/move_base/src/move_base.cpp
pkg/trunk/highlevel/move_base/src/move_base_local.cpp
pkg/trunk/highlevel/move_base_stage/manifest.xml
pkg/trunk/highlevel/move_base_stage/move_base/move_base.launch
pkg/trunk/highlevel/move_base_stage/move_base/move_base_multi_robot.launch
pkg/trunk/highlevel/move_base_stage/move_base_local/move_base_local.launch
pkg/trunk/highlevel/move_base_stage/move_base_maze/move_base_maze.launch
pkg/trunk/nav/base_local_planner/src/trajectory_planner.cpp
pkg/trunk/nav/people_aware_nav/manifest.xml
Added Paths:
-----------
pkg/trunk/highlevel/move_base/
pkg/trunk/highlevel/move_base/include/move_base/
pkg/trunk/highlevel/move_base/include/move_base/move_base.h
pkg/trunk/highlevel/move_base/include/move_base/move_base_local.h
pkg/trunk/highlevel/move_base_stage/
Removed Paths:
-------------
pkg/trunk/highlevel/move_base/include/nav/
pkg/trunk/highlevel/nav/
pkg/trunk/highlevel/test_nav/
Modified: pkg/trunk/demos/2dnav_erratic/manifest.xml
===================================================================
--- pkg/trunk/demos/2dnav_erratic/manifest.xml 2009-06-04 00:28:18 UTC (rev 16693)
+++ pkg/trunk/demos/2dnav_erratic/manifest.xml 2009-06-04 00:29:45 UTC (rev 16694)
@@ -10,5 +10,5 @@
<depend package="sicktoolbox_wrapper"/>
<depend package="map_server"/>
<depend package="wavefront"/>
- <depend package="nav"/>
+ <depend package="move_base"/>
</package>
Modified: pkg/trunk/demos/2dnav_erratic/move_base/move_base.launch
===================================================================
--- pkg/trunk/demos/2dnav_erratic/move_base/move_base.launch 2009-06-04 00:28:18 UTC (rev 16693)
+++ pkg/trunk/demos/2dnav_erratic/move_base/move_base.launch 2009-06-04 00:29:45 UTC (rev 16694)
@@ -1,7 +1,7 @@
<launch>
<master auto="start"/>
<group name="wg">
- <node pkg="nav" type="move_base" respawn="false" name="move_base_node" output="screen">
+ <node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">
<remap from="/move_base_node/activate" to="/goal" />
<remap from="~base_local_planner/global_plan" to="/gui_path" />
<remap from="~base_local_planner/local_plan" to="/local_path" />
Modified: pkg/trunk/demos/2dnav_gazebo/manifest.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/manifest.xml 2009-06-04 00:28:18 UTC (rev 16693)
+++ pkg/trunk/demos/2dnav_gazebo/manifest.xml 2009-06-04 00:29:45 UTC (rev 16694)
@@ -7,7 +7,7 @@
<depend package="std_msgs"/>
<depend package="robot_msgs"/>
<depend package="nav_view"/>
- <depend package="nav"/>
+ <depend package="move_base"/>
<depend package="gazebo_plugin"/>
<depend package="map_server"/>
<depend package="amcl"/>
Modified: pkg/trunk/demos/2dnav_pr2/manifest.xml
===================================================================
--- pkg/trunk/demos/2dnav_pr2/manifest.xml 2009-06-04 00:28:18 UTC (rev 16693)
+++ pkg/trunk/demos/2dnav_pr2/manifest.xml 2009-06-04 00:29:45 UTC (rev 16694)
@@ -15,7 +15,7 @@
<depend package="pr2_alpha"/>
<depend package="map_server"/>
<depend package="willow_maps"/>
- <depend package="nav"/>
+ <depend package="move_base"/>
<depend package="mux"/>
<depend package="backup_safetysound"/>
Modified: pkg/trunk/demos/2dnav_pr2/move_base/move_base.xml
===================================================================
--- pkg/trunk/demos/2dnav_pr2/move_base/move_base.xml 2009-06-04 00:28:18 UTC (rev 16693)
+++ pkg/trunk/demos/2dnav_pr2/move_base/move_base.xml 2009-06-04 00:29:45 UTC (rev 16694)
@@ -1,7 +1,7 @@
<launch>
<include file="$(find pr2_alpha)/$(env ROBOT).machine" />
-<node pkg="nav" type="move_base" respawn="true" name="move_base" output="screen" machine="three">
+<node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen" machine="three">
<!--
<remap from="cmd_vel" to="/bs" />
-->
Modified: pkg/trunk/demos/2dnav_pr2/move_base/move_base_voxel.xml
===================================================================
--- pkg/trunk/demos/2dnav_pr2/move_base/move_base_voxel.xml 2009-06-04 00:28:18 UTC (rev 16693)
+++ pkg/trunk/demos/2dnav_pr2/move_base/move_base_voxel.xml 2009-06-04 00:29:45 UTC (rev 16694)
@@ -2,7 +2,7 @@
<include file="$(find pr2_alpha)/$(env ROBOT).machine" />
<node pkg="mux" type="throttle" args="3.0 /move_base/base_local_planner/costmap/voxel_grid /move_base/base_local_planner/costmap/voxel_grid_throttled" />
-<node pkg="nav" type="move_base" respawn="true" name="move_base" output="screen" machine="three">
+<node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen" machine="three">
<!--
<remap from="cmd_vel" to="/bs" />
-->
Modified: pkg/trunk/demos/2dnav_pr2/move_base_local/move_base_local.xml
===================================================================
--- pkg/trunk/demos/2dnav_pr2/move_base_local/move_base_local.xml 2009-06-04 00:28:18 UTC (rev 16693)
+++ pkg/trunk/demos/2dnav_pr2/move_base_local/move_base_local.xml 2009-06-04 00:29:45 UTC (rev 16694)
@@ -1,7 +1,7 @@
<launch>
<include file="$(find pr2_alpha)/$(env ROBOT).machine" />
-<node pkg="nav" type="move_base_local" respawn="false" name="move_base_local" output="screen" machine="three">
+<node pkg="move_base" type="move_base_local" respawn="false" name="move_base_local" output="screen" machine="three">
<param name="controller_frequency" value="10.0" />
<rosparam file="$(find 2dnav_pr2)/config/costmap_common_params.yaml" command="load" ns="base_local_planner" />
Modified: pkg/trunk/demos/2dnav_pr2/move_base_local/move_base_local_voxel.xml
===================================================================
--- pkg/trunk/demos/2dnav_pr2/move_base_local/move_base_local_voxel.xml 2009-06-04 00:28:18 UTC (rev 16693)
+++ pkg/trunk/demos/2dnav_pr2/move_base_local/move_base_local_voxel.xml 2009-06-04 00:29:45 UTC (rev 16694)
@@ -2,7 +2,7 @@
<include file="$(find pr2_alpha)/$(env ROBOT).machine" />
<node pkg="mux" type="throttle" args="3.0 /move_base_local/base_local_planner/costmap/voxel_grid /move_base_local/base_local_planner/costmap/voxel_grid_throttled" />
-<node pkg="nav" type="move_base_local" respawn="false" name="move_base_local" output="screen" machine="three">
+<node pkg="move_base" type="move_base_local" respawn="false" name="move_base_local" output="screen" machine="three">
<param name="controller_frequency" value="10.0" />
<rosparam file="$(find 2dnav_pr2)/config/costmap_common_params.yaml" command="load" ns="base_local_planner" />
Modified: pkg/trunk/demos/erratic_gazebo/2dnav-gazebo-simple-fake_localization.xml
===================================================================
--- pkg/trunk/demos/erratic_gazebo/2dnav-gazebo-simple-fake_localization.xml 2009-06-04 00:28:18 UTC (rev 16693)
+++ pkg/trunk/demos/erratic_gazebo/2dnav-gazebo-simple-fake_localization.xml 2009-06-04 00:29:45 UTC (rev 16694)
@@ -27,7 +27,7 @@
</node>
<!-- for moving -->
- <node pkg="nav" type="move_base" respawn="false" name="move_base" output="screen">
+ <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="controller_frequency" value="10.0" />
<rosparam file="$(find erratic_gazebo)/costmap_common_params.yaml" command="load" ns="navfn" />
Modified: pkg/trunk/demos/erratic_gazebo/manifest.xml
===================================================================
--- pkg/trunk/demos/erratic_gazebo/manifest.xml 2009-06-04 00:28:18 UTC (rev 16693)
+++ pkg/trunk/demos/erratic_gazebo/manifest.xml 2009-06-04 00:29:45 UTC (rev 16694)
@@ -9,7 +9,7 @@
<depend package="erratic_defs"/>
<depend package="robot_mechanism_controllers"/>
- <depend package="nav"/>
+ <depend package="move_base"/>
<depend package="tf"/>
<depend package="rospy"/>
<depend package="std_msgs"/>
Modified: pkg/trunk/demos/milestone2/milestone2_tests/manifest.xml
===================================================================
--- pkg/trunk/demos/milestone2/milestone2_tests/manifest.xml 2009-06-04 00:28:18 UTC (rev 16693)
+++ pkg/trunk/demos/milestone2/milestone2_tests/manifest.xml 2009-06-04 00:29:45 UTC (rev 16694)
@@ -9,7 +9,7 @@
<review status="unreviewed" notes=""/>
<url>http://pr.willowgarage.com/wiki/milestone2_tests</url>
<depend package="topological_map"/>
- <depend package="nav"/>
+ <depend package="move_base"/>
<depend package="robot_actions"/>
<depend package="stage"/>
<depend package="roscpp"/>
Modified: pkg/trunk/demos/milestone2/milestone2_tests/test/move_base.launch
===================================================================
--- pkg/trunk/demos/milestone2/milestone2_tests/test/move_base.launch 2009-06-04 00:28:18 UTC (rev 16693)
+++ pkg/trunk/demos/milestone2/milestone2_tests/test/move_base.launch 2009-06-04 00:29:45 UTC (rev 16694)
@@ -2,7 +2,7 @@
<master auto="start"/>
<group name="wg">
<param name="/use_sim_time" value="true"/>
- <node pkg="nav" type="move_base" respawn="false" name="move_base" >
+ <node pkg="move_base" type="move_base" respawn="false" name="move_base" >
<param name="global_frame" value="map" />
<param name="robot_base_frame" value="base_link" />
Modified: pkg/trunk/highlevel/executive_python/manifest.xml
===================================================================
--- pkg/trunk/highlevel/executive_python/manifest.xml 2009-06-04 00:28:18 UTC (rev 16693)
+++ pkg/trunk/highlevel/executive_python/manifest.xml 2009-06-04 00:29:45 UTC (rev 16694)
@@ -4,7 +4,7 @@
<license>BSD</license>
<review status="unreviewed" notes=""/>
<depend package="rospy" />
- <depend package="nav" />
+ <depend package="nav_robot_actions" />
<depend package="std_msgs" />
<depend package="robot_msgs" />
<depend package="pr2_robot_actions" />
Modified: pkg/trunk/highlevel/move_base/CMakeLists.txt
===================================================================
--- pkg/trunk/highlevel/nav/CMakeLists.txt 2009-06-02 21:28:44 UTC (rev 16612)
+++ pkg/trunk/highlevel/move_base/CMakeLists.txt 2009-06-04 00:29:45 UTC (rev 16694)
@@ -2,15 +2,15 @@
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
set(ROS_BUILD_TYPE Release)
-rospack(nav)
+rospack(move_base)
genmsg()
rospack_add_boost_directories()
# Library
-rospack_add_library(nav src/move_base.cpp)
-rospack_link_boost(nav thread)
+rospack_add_library(move_base src/move_base.cpp)
+rospack_link_boost(move_base thread)
# move_base
rospack_add_executable(bin/move_base src/move_base.cpp)
Added: pkg/trunk/highlevel/move_base/include/move_base/move_base.h
===================================================================
--- pkg/trunk/highlevel/move_base/include/move_base/move_base.h (rev 0)
+++ pkg/trunk/highlevel/move_base/include/move_base/move_base.h 2009-06-04 00:29:45 UTC (rev 16694)
@@ -0,0 +1,148 @@
+/*********************************************************************
+*
+* Software License Agreement (BSD License)
+*
+* Copyright (c) 2008, Willow Garage, Inc.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+*
+* * Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* * Redistributions in binary form must reproduce the above
+* copyright notice, this list of conditions and the following
+* disclaimer in the documentation and/or other materials provided
+* with the distribution.
+* * Neither the name of the Willow Garage nor the names of its
+* contributors may be used to endorse or promote products derived
+* from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*
+* Author: Eitan Marder-Eppstein
+*********************************************************************/
+#ifndef NAV_MOVE_BASE_ACTION_H_
+#define NAV_MOVE_BASE_ACTION_H_
+#include <robot_actions/action.h>
+#include <robot_actions/action_runner.h>
+#include <nav_robot_actions/MoveBaseState.h>
+#include <robot_msgs/PoseStamped.h>
+#include <ros/ros.h>
+#include <costmap_2d/costmap_2d_ros.h>
+#include <costmap_2d/costmap_2d.h>
+#include <costmap_2d/rate.h>
+#include <navfn/navfn_ros.h>
+#include <base_local_planner/trajectory_planner_ros.h>
+#include <vector>
+#include <string>
+#include <nav_srvs/Plan.h>
+#include <visualization_msgs/Marker.h>
+
+namespace move_base {
+ /**
+ * @class MoveBase
+ * @brief A class adhering to the robot_actions::Action interface that moves the robot base to a goal location.
+ */
+ class MoveBase : public robot_actions::Action<robot_msgs::PoseStamped, robot_msgs::PoseStamped> {
+ public:
+ /**
+ * @brief Constructor for the actions
+ * @param ros_node A reference to the ros node used
+ * @param tf A reference to a TransformListener
+ * @return
+ */
+ MoveBase(ros::Node& ros_node, tf::TransformListener& tf);
+
+ /**
+ * @brief Destructor - Cleans up
+ */
+ virtual ~MoveBase();
+
+ /**
+ * @brief Runs whenever a new goal is sent to the move_base
+ * @param goal The goal to pursue
+ * @param feedback Feedback that the action gives to a higher-level monitor, in this case, the position of the robot
+ * @return The result of the execution, ie: Success, Preempted, Aborted, etc.
+ */
+ virtual robot_actions::ResultStatus execute(const robot_msgs::PoseStamped& goal, robot_msgs::PoseStamped& feedback);
+
+ private:
+ /**
+ * @brief A service call that can be made when the action is inactive that will return a plan
+ * @param req The goal request
+ * @param resp The plan request
+ * @return True if planning succeeded, false otherwise
+ */
+ bool planService(nav_srvs::Plan::Request &req, nav_srvs::Plan::Response &resp);
+
+ /**
+ * @brief Make a new global plan
+ * @param goal The goal to plan to
+ */
+ void makePlan(const robot_msgs::PoseStamped& goal);
+
+ bool escape(double escape_dist, unsigned int max_attempts, const robot_msgs::PoseStamped& robot_pose);
+
+ /**
+ * @brief Publish a goal to the visualizer
+ * @param goal The goal to visualize
+ */
+ void publishGoal(const robot_msgs::PoseStamped& goal);
+
+ /**
+ * @brief Get the current pose of the robot in the specified frame
+ * @param frame The frame to get the pose in
+ * @param pose The pose returned
+ */
+ void getRobotPose(std::string frame, tf::Stamped<tf::Pose>& pose);
+
+ /**
+ * @brief Resets the costmaps to the static map outside a given window
+ */
+ void resetCostmaps(double size_x, double size_y);
+
+ void clearCostmapWindows(double size_x, double size_y);
+
+ void resetState();
+
+ bool tryPlan(robot_msgs::PoseStamped goal);
+
+ ros::Node& ros_node_;
+ tf::TransformListener& tf_;
+ bool run_planner_;
+ base_local_planner::TrajectoryPlannerROS* tc_;
+ costmap_2d::Costmap2DROS* planner_costmap_ros_, *controller_costmap_ros_;
+ costmap_2d::Costmap2D planner_costmap_, controller_costmap_;
+
+ navfn::NavfnROS* planner_;
+ std::vector<robot_msgs::PoseStamped> global_plan_;
+ std::vector<robot_msgs::Point> footprint_;
+ std::string robot_base_frame_, global_frame_;
+ bool valid_plan_, new_plan_;
+ boost::recursive_mutex lock_;
+ robot_msgs::PoseStamped goal_;
+
+ tf::Stamped<tf::Pose> global_pose_;
+ double controller_frequency_, inscribed_radius_, circumscribed_radius_, planner_patience_, controller_patience_, clearing_radius_;
+ bool attempted_rotation_, attempted_costmap_reset_;
+ bool done_half_rotation_, done_full_rotation_;
+ bool escaping_;
+ ros::Time last_valid_control_;
+
+ };
+};
+#endif
+
Added: pkg/trunk/highlevel/move_base/include/move_base/move_base_local.h
===================================================================
--- pkg/trunk/highlevel/move_base/include/move_base/move_base_local.h (rev 0)
+++ pkg/trunk/highlevel/move_base/include/move_base/move_base_local.h 2009-06-04 00:29:45 UTC (rev 16694)
@@ -0,0 +1,116 @@
+/*********************************************************************
+*
+* Software License Agreement (BSD License)
+*
+* Copyright (c) 2008, Willow Garage, Inc.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+*
+* * Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* * Redistributions in binary form must reproduce the above
+* copyright notice, this list of conditions and the following
+* disclaimer in the documentation and/or other materials provided
+* with the distribution.
+* * Neither the name of the Willow Garage nor the names of its
+* contributors may be used to endorse or promote products derived
+* from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*
+* Author: Eitan Marder-Eppstein
+*********************************************************************/
+#ifndef NAV_MOVE_BASE_ACTION_H_
+#define NAV_MOVE_BASE_ACTION_H_
+#include <robot_actions/action.h>
+#include <robot_actions/action_runner.h>
+#include <nav_robot_actions/MoveBaseState.h>
+#include <robot_msgs/PoseStamped.h>
+#include <ros/node.h>
+#include <costmap_2d/costmap_2d_ros.h>
+#include <costmap_2d/costmap_2d.h>
+#include <base_local_planner/trajectory_planner_ros.h>
+#include <vector>
+#include <string>
+#include <visualization_msgs/Marker.h>
+
+namespace move_base {
+ /**
+ * @class MoveBaseLocal
+ * @brief A class adhering to the robot_actions::Action interface that moves the robot base to a goal location.
+ */
+ class MoveBaseLocal : public robot_actions::Action<robot_msgs::PoseStamped, robot_msgs::PoseStamped> {
+ public:
+ /**
+ * @brief Constructor for the actions
+ * @param ros_node A reference to the ros node used
+ * @param tf A reference to a TransformListener
+ * @return
+ */
+ MoveBaseLocal(ros::Node& ros_node, tf::TransformListener& tf);
+
+ /**
+ * @brief Destructor - Cleans up
+ */
+ virtual ~MoveBaseLocal();
+
+ /**
+ * @brief Runs whenever a new goal is sent to the move_base
+ * @param goal The goal to pursue
+ * @param feedback Feedback that the action gives to a higher-level monitor, in this case, the position of the robot
+ * @return The result of the execution, ie: Success, Preempted, Aborted, etc.
+ */
+ virtual robot_actions::ResultStatus execute(const robot_msgs::PoseStamped& goal, robot_msgs::PoseStamped& feedback);
+
+ /**
+ * @brief Publish a goal to the visualizer
+ * @param goal The goal to visualize
+ */
+ void publishGoal(const robot_msgs::PoseStamped& goal);
+
+ private:
+ /**
+ * @brief Get the current pose of the robot in the specified frame
+ * @param frame The frame to get the pose in
+ * @param pose The pose returned
+ */
+ void getRobotPose(std::string frame, tf::Stamped<tf::Pose>& pose);
+
+ /**
+ * @brief Resets the costmaps to the static map outside a given window
+ */
+ void resetCostmaps();
+ ros::Node& ros_node_;
+ tf::TransformListener& tf_;
+
+ base_local_planner::TrajectoryPlannerROS* tc_;
+ costmap_2d::Costmap2DROS* controller_costmap_ros_;
+ costmap_2d::Costmap2D controller_costmap_;
+
+ std::vector<robot_msgs::Point> footprint_;
+ std::string robot_base_frame_;
+
+ double controller_frequency_;
+
+ std::string action_name_;
+ ros::Duration controller_patience_;
+ double circumscribed_radius_;
+
+ };
+};
+#endif
+
Modified: pkg/trunk/highlevel/move_base/manifest.xml
===================================================================
--- pkg/trunk/highlevel/nav/manifest.xml 2009-06-02 21:28:44 UTC (rev 16612)
+++ pkg/trunk/highlevel/move_base/manifest.xml 2009-06-04 00:29:45 UTC (rev 16694)
@@ -23,6 +23,6 @@
<depend package="nav_srvs"/>
<export>
- <cpp cflags="-I${prefix}/include `rosboost-cfg --cflags`" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib `rosboost-cfg --lflags thread` -lnav"/>
+ <cpp cflags="-I${prefix}/include `rosboost-cfg --cflags`" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib `rosboost-cfg --lflags thread` -lmove_base"/>
</export>
</package>
Modified: pkg/trunk/highlevel/move_base/src/move_base.cpp
===================================================================
--- pkg/trunk/highlevel/nav/src/move_base.cpp 2009-06-02 21:28:44 UTC (rev 16612)
+++ pkg/trunk/highlevel/move_base/src/move_base.cpp 2009-06-04 00:29:45 UTC (rev 16694)
@@ -34,7 +34,7 @@
*
* Author: Eitan Marder-Eppstein
*********************************************************************/
-#include <nav/move_base.h>
+#include <move_base/move_base.h>
#include <cstdlib>
#include <ctime>
@@ -43,7 +43,7 @@
using namespace navfn;
using namespace robot_actions;
-namespace nav {
+namespace move_base {
MoveBase::MoveBase(ros::Node& ros_node, tf::TransformListener& tf) :
Action<robot_msgs::PoseStamped, robot_msgs::PoseStamped>(ros_node.getName()), ros_node_(ros_node), tf_(tf),
run_planner_(true), tc_(NULL), planner_costmap_ros_(NULL), controller_costmap_ros_(NULL),
@@ -591,7 +591,7 @@
ros::Node ros_node("move_base");
tf::TransformListener tf(ros_node, true, ros::Duration(10));
- nav::MoveBase move_base(ros_node, tf);
+ move_base::MoveBase move_base(ros_node, tf);
robot_actions::ActionRunner runner(20.0);
runner.connect<robot_msgs::PoseStamped, nav_robot_actions::MoveBaseState, robot_msgs::PoseStamped>(move_base);
runner.run();
Modified: pkg/trunk/highlevel/move_base/src/move_base_local.cpp
===================================================================
--- pkg/trunk/highlevel/nav/src/move_base_local.cpp 2009-06-02 21:28:44 UTC (rev 16612)
+++ pkg/trunk/highlevel/move_base/src/move_base_local.cpp 2009-06-04 00:29:45 UTC (rev 16694)
@@ -34,14 +34,14 @@
*
* Author: Eitan Marder-Eppstein
*********************************************************************/
-#include <nav/move_base_local.h>
+#include <move_base/move_base_local.h>
using namespace base_local_planner;
using namespace costmap_2d;
using namespace robot_actions;
using namespace nav_robot_actions;
-namespace nav {
+namespace move_base {
MoveBaseLocal::MoveBaseLocal(ros::Node& ros_node, tf::TransformListener& tf) :
Action<robot_msgs::PoseStamped, robot_msgs::PoseStamped>(ros_node.getName()), ros_node_(ros_node), tf_(tf),
tc_(NULL), controller_costmap_ros_(NULL), action_name_("move_base_local"){
@@ -254,7 +254,7 @@
ros::Node ros_node("move_base_local");
tf::TransformListener tf(ros_node, true, ros::Duration(10));
- nav::MoveBaseLocal move_base(ros_node, tf);
+ move_base::MoveBaseLocal move_base(ros_node, tf);
robot_actions::ActionRunner runner(20.0);
runner.connect<robot_msgs::PoseStamped, nav_robot_actions::MoveBaseState, robot_msgs::PoseStamped>(move_base);
runner.run();
Modified: pkg/trunk/highlevel/move_base_stage/manifest.xml
===================================================================
--- pkg/trunk/highlevel/test_nav/manifest.xml 2009-06-01 19:10:08 UTC (rev 16551)
+++ pkg/trunk/highlevel/move_base_stage/manifest.xml 2009-06-04 00:29:45 UTC (rev 16694)
@@ -7,7 +7,7 @@
<review status="unreviewed" notes=""/>
<url>http://pr.willowgarage.com</url>
- <depend package="nav"/>
+ <depend package="move_base"/>
<depend package="stage"/>
<depend package="map_server"/>
<depend package="fake_localization"/>
Modified: pkg/trunk/highlevel/move_base_stage/move_base/move_base.launch
===================================================================
--- pkg/trunk/highlevel/test_nav/move_base/move_base.launch 2009-06-01 19:10:08 UTC (rev 16551)
+++ pkg/trunk/highlevel/move_base_stage/move_base/move_base.launch 2009-06-04 00:29:45 UTC (rev 16694)
@@ -2,14 +2,14 @@
<master auto="start"/>
<group name="wg">
<param name="/use_sim_time" value="true"/>
- <node pkg="nav" type="move_base" respawn="false" name="move_base" output="screen">
+ <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="footprint_padding" value="0.02" />
- <rosparam file="$(find test_nav)/config/costmap_common_params.yaml" command="load" ns="navfn" />
- <rosparam file="$(find test_nav)/config/costmap_common_params.yaml" command="load" ns="base_local_planner" />
- <rosparam file="$(find test_nav)/move_base/navfn_params.yaml" command="load" />
- <rosparam file="$(find test_nav)/move_base/base_local_planner_params.yaml" command="load" />
+ <rosparam file="$(find move_base_stage)/config/costmap_common_params.yaml" command="load" ns="navfn" />
+ <rosparam file="$(find move_base_stage)/config/costmap_common_params.yaml" command="load" ns="base_local_planner" />
+ <rosparam file="$(find move_base_stage)/move_base/navfn_params.yaml" command="load" />
+ <rosparam file="$(find move_base_stage)/move_base/base_local_planner_params.yaml" command="load" />
</node>
<!--
Modified: pkg/trunk/highlevel/move_base_stage/move_base/move_base_multi_robot.launch
===================================================================
--- pkg/trunk/highlevel/test_nav/move_base/move_base_multi_robot.launch 2009-06-01 19:10:08 UTC (rev 16551)
+++ pkg/trunk/highlevel/move_base_stage/move_base/move_base_multi_robot.launch 2009-06-04 00:29:45 UTC (rev 16694)
@@ -13,11 +13,11 @@
<!-- BEGIN ROBOT 0 -->
<group ns="robot_0">
<param name="~tf_prefix" value="robot_0" />
- <node pkg="nav" type="move_base" respawn="false" name="move_base" output="screen">
- <rosparam file="$(find test_nav)/config/costmap_common_params.yaml" command="load" ns="navfn" />
- <rosparam file="$(find test_nav)/config/costmap_common_params.yaml" command="load" ns="base_local_planner" />
- <rosparam file="$(find test_nav)/move_base/navfn_params.yaml" command="load" />
- <rosparam file="$(find test_nav)/move_base/base_local_planner_params.yaml" command="load" />
+ <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+ <rosparam file="$(find move_base_stage)/config/costmap_common_params.yaml" command="load" ns="navfn" />
+ <rosparam file="$(find move_base_stage)/config/costmap_common_params.yaml" command="load" ns="base_local_planner" />
+ <rosparam file="$(find move_base_stage)/move_base/navfn_params.yaml" command="load" />
+ <rosparam file="$(find move_base_stage)/move_base/base_local_planner_params.yaml" command="load" />
</node>
@@ -38,11 +38,11 @@
<!-- BEGIN ROBOT 1 -->
<group ns="robot_1">
<param name="~tf_prefix" value="robot_1" />
- <node pkg="nav" type="move_base" respawn="false" name="move_base" output="screen">
- <rosparam file="$(fin...
[truncated message content] |
|
From: <is...@us...> - 2009-06-04 05:50:47
|
Revision: 16707
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16707&view=rev
Author: isucan
Date: 2009-06-04 05:50:45 +0000 (Thu, 04 Jun 2009)
Log Message:
-----------
moving files
Modified Paths:
--------------
pkg/trunk/motion_planning/ompl_planning/motion_planning.launch
Added Paths:
-----------
pkg/trunk/motion_planning/ompl_planning/collision_checks.yaml
pkg/trunk/motion_planning/ompl_planning/planning.yaml
Removed Paths:
-------------
pkg/trunk/motion_planning/planning_models/planning.yaml
pkg/trunk/world_models/collision_space/collision_checks.yaml
Added: pkg/trunk/motion_planning/ompl_planning/collision_checks.yaml
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/collision_checks.yaml (rev 0)
+++ pkg/trunk/motion_planning/ompl_planning/collision_checks.yaml 2009-06-04 05:50:45 UTC (rev 16707)
@@ -0,0 +1,76 @@
+## This file should be loaded under /collision
+
+
+## links for which collision checking with the environment should be performed
+collision_links:
+ base_link
+ torso_lift_link
+ head_pan_link
+ head_tilt_link
+ r_shoulder_pan_link
+ r_shoulder_lift_link
+ r_upper_arm_roll_link
+ r_upper_arm_link
+ r_elbow_flex_link
+ r_forearm_roll_link
+ r_forearm_link
+ r_wrist_flex_link
+ r_wrist_roll_link
+ r_gripper_palm_link
+ r_gripper_l_finger_link
+ r_gripper_r_finger_link
+ r_gripper_l_finger_tip_link
+ r_gripper_r_finger_tip_link
+
+## self collision is performed between groups of links, usually pairs
+self_collision_groups: scg1 scg2 scg3 scg4 scg5 scg6
+
+scg1:
+ r_forearm_link
+ base_link
+
+scg2:
+ r_gripper_palm_link
+ base_link
+
+scg3:
+ r_gripper_l_finger_link
+ base_link
+
+scg4:
+ r_gripper_r_finger_link
+ base_link
+
+scg5:
+ r_gripper_l_finger_tip_link
+ base_link
+
+scg6:
+ r_gripper_r_finger_tip_link
+ base_link
+
+
+## list of links that the robot can see with its sensors (used to remove
+## parts of the robot from scanned data)
+self_see:
+ l_upper_arm_roll_link
+ r_upper_arm_roll_link
+ l_elbow_flex_link
+ r_elbow_flex_link
+ l_forearm_roll_link
+ r_forearm_roll_link
+ l_wrist_flex_link
+ r_wrist_flex_link
+ l_wrist_roll_link
+ r_wrist_roll_link
+ l_gripper_l_finger_link
+ l_gripper_r_finger_link
+ r_gripper_l_finger_link
+ r_gripper_r_finger_link
+ r_shoulder_pan_link
+ r_shoulder_lift_link
+ l_shoulder_pan_link
+ l_shoulder_lift_link
+ torso_lift_link
+ base_link
+
Modified: pkg/trunk/motion_planning/ompl_planning/motion_planning.launch
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/motion_planning.launch 2009-06-04 05:14:50 UTC (rev 16706)
+++ pkg/trunk/motion_planning/ompl_planning/motion_planning.launch 2009-06-04 05:50:45 UTC (rev 16707)
@@ -1,7 +1,7 @@
<launch>
- <rosparam command="load" ns="planning" file="$(find planning_models)/planning.yaml" />
- <rosparam command="load" ns="collision" file="$(find collision_space)/collision.yaml" />
+ <rosparam command="load" ns="planning" file="$(find ompl_planning)/planning.yaml" />
+ <rosparam command="load" ns="collision" file="$(find ompl_planning)/collision_checks.yaml" />
<node pkg="ompl_planning" type="motion_planner" args="robot_description:=robotdesc/pr2 collision_map:=collision_map_buffer" respawn="true" output="screen">
<param name="refresh_interval_collision_map" type="double" value="0.0" />
<param name="refresh_interval_kinematic_state" type="double" value="0.0" />
Added: pkg/trunk/motion_planning/ompl_planning/planning.yaml
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/planning.yaml (rev 0)
+++ pkg/trunk/motion_planning/ompl_planning/planning.yaml 2009-06-04 05:50:45 UTC (rev 16707)
@@ -0,0 +1,74 @@
+## This file should be loaded under /planning
+
+## the list of groups for which motion planning can be performed
+group_list:
+ base
+ left_arm
+ right_arm
+ arms
+ base_left_arm
+ base_right_arm
+ base_arms
+
+## the definition of each group
+groups:
+
+ base:
+ links:
+ base_link
+ planner_configs:
+ RRTConfig1 SBLConfig1
+
+ left_arm:
+ links:
+ l_shoulder_pan_link
+ l_shoulder_lift_link
+ l_upper_arm_roll_link
+ l_upper_arm_link
+ l_elbow_flex_link
+ l_forearm_roll_link
+ l_forearm_link
+ l_wrist_flex_link
+ l_wrist_roll_link
+ planner_configs:
+ RRTConfig2 SBLConfig2
+
+ right_arm:
+ links:
+ r_shoulder_pan_link
+ r_shoulder_lift_link
+ r_upper_arm_roll_link
+ r_upper_arm_link
+ r_elbow_flex_link
+ r_forearm_roll_link
+ r_forearm_link
+ r_wrist_flex_link
+ r_wrist_roll_link
+ planner_configs:
+ RRTConfig2 SBLConfig2
+
+## the planner configurations; each config must have a type, which specifies
+## the planner to be used; other parameters can be specified as well
+
+planner_configs:
+
+ RRTConfig1:
+ type: RRT
+ range: 0.75
+
+ SBLConfig1:
+ type: SBL
+ projection: 0 1
+ celldim: 1 1
+ range: 0.5
+
+ RRTConfig2:
+ type: RRT
+ range: 0.75
+
+ SBLConfig2:
+ type: SBL
+ projection: 5 6
+ celldim: 0.1 0.1
+
+
\ No newline at end of file
Deleted: pkg/trunk/motion_planning/planning_models/planning.yaml
===================================================================
--- pkg/trunk/motion_planning/planning_models/planning.yaml 2009-06-04 05:14:50 UTC (rev 16706)
+++ pkg/trunk/motion_planning/planning_models/planning.yaml 2009-06-04 05:50:45 UTC (rev 16707)
@@ -1,74 +0,0 @@
-## This file should be loaded under /planning
-
-## the list of groups for which motion planning can be performed
-group_list:
- base
- left_arm
- right_arm
- arms
- base_left_arm
- base_right_arm
- base_arms
-
-## the definition of each group
-groups:
-
- base:
- links:
- base_link
- planner_configs:
- RRTConfig1 SBLConfig1
-
- left_arm:
- links:
- l_shoulder_pan_link
- l_shoulder_lift_link
- l_upper_arm_roll_link
- l_upper_arm_link
- l_elbow_flex_link
- l_forearm_roll_link
- l_forearm_link
- l_wrist_flex_link
- l_wrist_roll_link
- planner_configs:
- RRTConfig2 SBLConfig2
-
- right_arm:
- links:
- r_shoulder_pan_link
- r_shoulder_lift_link
- r_upper_arm_roll_link
- r_upper_arm_link
- r_elbow_flex_link
- r_forearm_roll_link
- r_forearm_link
- r_wrist_flex_link
- r_wrist_roll_link
- planner_configs:
- RRTConfig2 SBLConfig2
-
-## the planner configurations; each config must have a type, which specifies
-## the planner to be used; other parameters can be specified as well
-
-planner_configs:
-
- RRTConfig1:
- type: RRT
- range: 0.75
-
- SBLConfig1:
- type: SBL
- projection: 0 1
- celldim: 1 1
- range: 0.5
-
- RRTConfig2:
- type: RRT
- range: 0.75
-
- SBLConfig2:
- type: SBL
- projection: 5 6
- celldim: 0.1 0.1
-
-
\ No newline at end of file
Deleted: pkg/trunk/world_models/collision_space/collision_checks.yaml
===================================================================
--- pkg/trunk/world_models/collision_space/collision_checks.yaml 2009-06-04 05:14:50 UTC (rev 16706)
+++ pkg/trunk/world_models/collision_space/collision_checks.yaml 2009-06-04 05:50:45 UTC (rev 16707)
@@ -1,76 +0,0 @@
-## This file should be loaded under /collision
-
-
-## links for which collision checking with the environment should be performed
-collision_links:
- base_link
- torso_lift_link
- head_pan_link
- head_tilt_link
- r_shoulder_pan_link
- r_shoulder_lift_link
- r_upper_arm_roll_link
- r_upper_arm_link
- r_elbow_flex_link
- r_forearm_roll_link
- r_forearm_link
- r_wrist_flex_link
- r_wrist_roll_link
- r_gripper_palm_link
- r_gripper_l_finger_link
- r_gripper_r_finger_link
- r_gripper_l_finger_tip_link
- r_gripper_r_finger_tip_link
-
-## self collision is performed between groups of links, usually pairs
-self_collision_groups: scg1 scg2 scg3 scg4 scg5 scg6
-
-scg1:
- r_forearm_link
- base_link
-
-scg2:
- r_gripper_palm_link
- base_link
-
-scg3:
- r_gripper_l_finger_link
- base_link
-
-scg4:
- r_gripper_r_finger_link
- base_link
-
-scg5:
- r_gripper_l_finger_tip_link
- base_link
-
-scg6:
- r_gripper_r_finger_tip_link
- base_link
-
-
-## list of links that the robot can see with its sensors (used to remove
-## parts of the robot from scanned data)
-self_see:
- l_upper_arm_roll_link
- r_upper_arm_roll_link
- l_elbow_flex_link
- r_elbow_flex_link
- l_forearm_roll_link
- r_forearm_roll_link
- l_wrist_flex_link
- r_wrist_flex_link
- l_wrist_roll_link
- r_wrist_roll_link
- l_gripper_l_finger_link
- l_gripper_r_finger_link
- r_gripper_l_finger_link
- r_gripper_r_finger_link
- r_shoulder_pan_link
- r_shoulder_lift_link
- l_shoulder_pan_link
- l_shoulder_lift_link
- torso_lift_link
- base_link
-
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|
|
From: <hsu...@us...> - 2009-06-04 20:03:30
|
Revision: 16728
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16728&view=rev
Author: hsujohnhsu
Date: 2009-06-04 20:03:19 +0000 (Thu, 04 Jun 2009)
Log Message:
-----------
dynamic map generation example in gazebo.
Added Paths:
-----------
pkg/trunk/demos/pr2_gazebo/pr2_simple_office.launch
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple_office.world
Added: pkg/trunk/demos/pr2_gazebo/pr2_simple_office.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/pr2_simple_office.launch (rev 0)
+++ pkg/trunk/demos/pr2_gazebo/pr2_simple_office.launch 2009-06-04 20:03:19 UTC (rev 16728)
@@ -0,0 +1,36 @@
+<launch>
+ <!-- send urdf to param server -->
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/prototype1.xacro.xml'" />
+
+ <!-- start gazebo -->
+ <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/simple_office.world" respawn="false" output="screen">
+ <env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(optenv LD_LIBRARY_PATH)" />
+ <env name="GAZEBO_RESOURCE_PATH" value="$(find gazebo_robot_description):$(find gazebo)/gazebo/share/gazebo" />
+ <env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
+ </node>
+
+ <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2 5 5 0 0 0 0" respawn="false" output="screen" />
+
+ <!-- startup base controller -->
+ <param name="base_controller/odom_publish_rate" value="10" />
+ <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)/gazebo_head_torso_lift_controller.xml" output="screen"/>
+
+ <!-- load map -->
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/Media/materials/textures/map_blank.png 0.1" respawn="true" />
+
+ <!-- dynamic map generation -->
+ <node pkg="slam_gmapping" type="slam_gmapping" respawn="false" />
+
+ <!-- nav-stack:
+ NOTE: not working with amcl in loop, need to fix how amcl updates dynamic map
+ NOTE: for now, rosrun teleop_base teleop_base_keyboard to drive robot around
+ -->
+ <!--include file="$(find 2dnav_gazebo)/2dnav-stack-amcl.launch"/-->
+
+ <!-- for visualization -->
+ <node pkg="rviz" type="rviz" respawn="false" />
+
+</launch>
+
Added: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple_office.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple_office.world (rev 0)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple_office.world 2009-06-04 20:03:19 UTC (rev 16728)
@@ -0,0 +1,216 @@
+<?xml version="1.0"?>
+
+<gazebo:world
+ xmlns:xi="http://www.w3.org/2001/XInclude"
+ xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window"
+ xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param"
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+ xmlns:geo="http://willowgarage.com/xmlschema/#geo"
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+ xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"
+ xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+ xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" >
+
+ <verbosity>5</verbosity>
+
+<!-- cfm is 1e-5 for single precision -->
+<!-- erp is typically .1-.8 -->
+<!-- here's the global contact cfm/erp -->
+ <physics:ode>
+ <stepTime>0.001</stepTime>
+ <gravity>0 0 -9.8</gravity>
+ <cfm>0.000000000001</cfm>
+ <erp>0.2</erp>
+ <quickStep>true</quickStep>
+ <quickStepIters>10</quickStepIters>
+ <quickStepW>1.3</quickStepW>
+ </physics:ode>
+
+ <geo:origin>
+ <lat>37.4270909558</lat><lon>-122.077919338</lon>
+ </geo:origin>
+
+ <rendering:gui>
+ <type>fltk</type>
+ <size>1024 800</size>
+ <pos>0 0</pos>
+ <frames>
+ <row height="100%">
+ <camera width="100%">
+ <xyz>0 0 20</xyz>
+ <rpy>0 90 90</rpy>
+ </camera>
+ </row>
+ </frames>
+ </rendering:gui>
+
+
+ <rendering:ogre>
+ <ambient>1.0 1.0 1.0 1.0</ambient>
+ <sky>
+ <material>Gazebo/CloudySky</material>
+ </sky>
+ <gazeboPath>media</gazeboPath>
+ <grid>false</grid>
+ <maxUpdateRate>10</maxUpdateRate>
+ </rendering:ogre>
+
+
+ <model:physical name="gplane">
+ <xyz>0 0 0</xyz>
+ <rpy>0 0 0</rpy>
+ <static>true</static>
+
+ <body:plane name="plane">
+ <geom:plane name="plane">
+ <laserRetro>2000.0</laserRetro>
+ <kp>1000000.0</kp>
+ <kd>1.0</kd>
+ <normal>0 0 1</normal>
+ <size>51.3 51.3</size>
+ <!-- map3.png -->
+ <material>PR2/White</material>
+ </geom:plane>
+ </body:plane>
+ </model:physical>
+
+ <!-- office walls -->
+ <model:physical name="wall_1_model">
+ <xyz>5 0 1</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:box name="wall_1_body">
+ <geom:box name="wall_1_geom">
+ <mesh>default</mesh>
+ <size>10 .2 2</size>
+ <visual>
+ <size>10 .2 2</size>
+ <material>PR2/Green</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <model:physical name="wall_2_model">
+ <xyz>5 15 1</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:box name="wall_2_body">
+ <geom:box name="wall_2_geom">
+ <mesh>default</mesh>
+ <size>10 .2 2</size>
+ <visual>
+ <size>10 .2 2</size>
+ <material>PR2/Green</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <model:physical name="wall_3_model">
+ <xyz>0 7.5 1</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:box name="wall_3_body">
+ <geom:box name="wall_3_geom">
+ <mesh>default</mesh>
+ <size>.2 15 2</size>
+ <visual>
+ <size>.2 15 2</size>
+ <material>PR2/Green</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <model:physical name="wall_4_model">
+ <xyz>10 7.5 1</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:box name="wall_4_body">
+ <geom:box name="wall_4_geom">
+ <mesh>default</mesh>
+ <size>.2 15 2</size>
+ <visual>
+ <size>.2 15 2</size>
+ <material>PR2/Green</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <!-- interior walls -->
+ <model:physical name="wall_5_model">
+ <xyz>3 10 1</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:box name="wall_5_body">
+ <geom:box name="wall_5_geom">
+ <mesh>default</mesh>
+ <size>6 .2 2</size>
+ <visual>
+ <size>6 .2 2</size>
+ <material>PR2/Green</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <model:physical name="wall_6_model">
+ <xyz>8.5 10 1</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:box name="wall_6_body">
+ <geom:box name="wall_6_geom">
+ <mesh>default</mesh>
+ <size>3 .2 2</size>
+ <visual>
+ <size>3 .2 2</size>
+ <material>PR2/Green</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+
+
+
+
+ <model:empty name="factory_model">
+ <model_thread>false</model_thread>
+ <controller:factory name="factory_controller">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>1000.0</updateRate>
+ <interface:factory name="factory_iface"/>
+ </controller:factory>
+ </model:empty>
+
+ <!-- White Directional light -->
+ <model:renderable name="directional_white">
+ <light>
+ <type>directional</type>
+ <direction>0 -0.5 -0.5</direction>
+ <diffuseColor>0.4 0.4 0.4</diffuseColor>
+ <specularColor>0.0 0.0 0.0</specularColor>
+ <attenuation>1 0.0 1.0 0.4</attenuation>
+ <range>10</range>
+ </light>
+ </model:renderable>
+ <!--
+ -->
+
+
+</gazebo:world>
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|
|
From: <is...@us...> - 2009-06-05 01:17:35
|
Revision: 16750
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16750&view=rev
Author: isucan
Date: 2009-06-05 01:17:32 +0000 (Fri, 05 Jun 2009)
Log Message:
-----------
using yaml to load parameters
Modified Paths:
--------------
pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/CollisionSpaceMonitor.h
pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/KinematicStateMonitor.h
pkg/trunk/motion_planning/ompl_planning/manifest.xml
pkg/trunk/motion_planning/ompl_planning/motion_planning.launch
pkg/trunk/motion_planning/ompl_planning/src/helpers/CollisionSpaceMonitor.cpp
pkg/trunk/motion_planning/ompl_planning/src/helpers/KinematicStateMonitor.cpp
pkg/trunk/motion_planning/ompl_planning/src/motion_planner.cpp
pkg/trunk/motion_planning/plan_ompl_path/CMakeLists.txt
pkg/trunk/motion_planning/plan_ompl_path/manifest.xml
pkg/trunk/motion_planning/planning_models/CMakeLists.txt
pkg/trunk/motion_planning/planning_models/include/planning_models/kinematic.h
pkg/trunk/motion_planning/planning_models/src/kinematic.cpp
pkg/trunk/motion_planning/planning_models/test/test_kinematic.cpp
pkg/trunk/util/self_watch/manifest.xml
pkg/trunk/util/self_watch/self_watch.cpp
pkg/trunk/visualization/rviz/manifest.xml
pkg/trunk/visualization/rviz/src/rviz/displays/planning_display.cpp
pkg/trunk/visualization/rviz/src/rviz/displays/planning_display.h
Added Paths:
-----------
pkg/trunk/motion_planning/planning_environment/
pkg/trunk/motion_planning/planning_environment/CMakeLists.txt
pkg/trunk/motion_planning/planning_environment/Makefile
pkg/trunk/motion_planning/planning_environment/collision_checks.yaml
pkg/trunk/motion_planning/planning_environment/include/
pkg/trunk/motion_planning/planning_environment/include/planning_environment/
pkg/trunk/motion_planning/planning_environment/include/planning_environment/collision_models.h
pkg/trunk/motion_planning/planning_environment/include/planning_environment/robot_models.h
pkg/trunk/motion_planning/planning_environment/mainpage.dox
pkg/trunk/motion_planning/planning_environment/manifest.xml
pkg/trunk/motion_planning/planning_environment/planning.yaml
pkg/trunk/motion_planning/planning_environment/src/
pkg/trunk/motion_planning/planning_environment/src/collision_models.cpp
pkg/trunk/motion_planning/planning_environment/src/robot_models.cpp
pkg/trunk/motion_planning/planning_environment/test/
pkg/trunk/motion_planning/planning_environment/test/test_robot_models.cpp
pkg/trunk/motion_planning/planning_environment/test/test_robot_models.xml
Removed Paths:
-------------
pkg/trunk/motion_planning/ompl_planning/collision_checks.yaml
pkg/trunk/motion_planning/ompl_planning/planning.yaml
Deleted: pkg/trunk/motion_planning/ompl_planning/collision_checks.yaml
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/collision_checks.yaml 2009-06-05 00:23:35 UTC (rev 16749)
+++ pkg/trunk/motion_planning/ompl_planning/collision_checks.yaml 2009-06-05 01:17:32 UTC (rev 16750)
@@ -1,76 +0,0 @@
-## This file should be loaded under /collision
-
-
-## links for which collision checking with the environment should be performed
-collision_links:
- base_link
- torso_lift_link
- head_pan_link
- head_tilt_link
- r_shoulder_pan_link
- r_shoulder_lift_link
- r_upper_arm_roll_link
- r_upper_arm_link
- r_elbow_flex_link
- r_forearm_roll_link
- r_forearm_link
- r_wrist_flex_link
- r_wrist_roll_link
- r_gripper_palm_link
- r_gripper_l_finger_link
- r_gripper_r_finger_link
- r_gripper_l_finger_tip_link
- r_gripper_r_finger_tip_link
-
-## self collision is performed between groups of links, usually pairs
-self_collision_groups: scg1 scg2 scg3 scg4 scg5 scg6
-
-scg1:
- r_forearm_link
- base_link
-
-scg2:
- r_gripper_palm_link
- base_link
-
-scg3:
- r_gripper_l_finger_link
- base_link
-
-scg4:
- r_gripper_r_finger_link
- base_link
-
-scg5:
- r_gripper_l_finger_tip_link
- base_link
-
-scg6:
- r_gripper_r_finger_tip_link
- base_link
-
-
-## list of links that the robot can see with its sensors (used to remove
-## parts of the robot from scanned data)
-self_see:
- l_upper_arm_roll_link
- r_upper_arm_roll_link
- l_elbow_flex_link
- r_elbow_flex_link
- l_forearm_roll_link
- r_forearm_roll_link
- l_wrist_flex_link
- r_wrist_flex_link
- l_wrist_roll_link
- r_wrist_roll_link
- l_gripper_l_finger_link
- l_gripper_r_finger_link
- r_gripper_l_finger_link
- r_gripper_r_finger_link
- r_shoulder_pan_link
- r_shoulder_lift_link
- l_shoulder_pan_link
- l_shoulder_lift_link
- torso_lift_link
- base_link
-
Modified: pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/CollisionSpaceMonitor.h
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/CollisionSpaceMonitor.h 2009-06-05 00:23:35 UTC (rev 16749)
+++ pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/CollisionSpaceMonitor.h 2009-06-05 01:17:32 UTC (rev 16750)
@@ -122,7 +122,6 @@
bool setCollisionState(motion_planning_srvs::CollisionCheckState::Request &req, motion_planning_srvs::CollisionCheckState::Response &res);
virtual void loadRobotDescription(void);
- virtual void defaultPosition(void);
bool isMapUpdated(double sec);
Modified: pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/KinematicStateMonitor.h
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/KinematicStateMonitor.h 2009-06-05 00:23:35 UTC (rev 16749)
+++ pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/KinematicStateMonitor.h 2009-06-05 01:17:32 UTC (rev 16750)
@@ -44,7 +44,7 @@
#include <boost/shared_ptr.hpp>
#include <urdf/URDF.h>
-#include <planning_models/kinematic.h>
+#include <planning_environment/collision_models.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_listener.h>
#include <sstream>
@@ -115,7 +115,6 @@
void setIncludeBaseInState(bool value);
virtual void loadRobotDescription(void);
- virtual void defaultPosition(void);
bool loadedRobot(void) const;
void waitForState(void);
@@ -141,6 +140,9 @@
tf::TransformListener m_tf;
+ boost::shared_ptr<planning_environment::CollisionModels>
+ m_envModels;
+
boost::shared_ptr<robot_desc::URDF> m_urdf;
boost::shared_ptr<planning_models::KinematicModel> m_kmodel;
Modified: pkg/trunk/motion_planning/ompl_planning/manifest.xml
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/manifest.xml 2009-06-05 00:23:35 UTC (rev 16749)
+++ pkg/trunk/motion_planning/ompl_planning/manifest.xml 2009-06-05 01:17:32 UTC (rev 16750)
@@ -17,10 +17,7 @@
<depend package="motion_planning_msgs" />
<depend package="motion_planning_srvs" />
- <depend package="wg_robot_description_parser"/>
- <depend package="planning_models"/>
- <depend package="collision_space"/>
-
+ <depend package="planning_environment"/>
<depend package="ompl" />
<export>
Modified: pkg/trunk/motion_planning/ompl_planning/motion_planning.launch
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/motion_planning.launch 2009-06-05 00:23:35 UTC (rev 16749)
+++ pkg/trunk/motion_planning/ompl_planning/motion_planning.launch 2009-06-05 01:17:32 UTC (rev 16750)
@@ -1,7 +1,7 @@
<launch>
- <rosparam command="load" ns="planning" file="$(find ompl_planning)/planning.yaml" />
- <rosparam command="load" ns="collision" file="$(find ompl_planning)/collision_checks.yaml" />
+ <rosparam command="load" ns="robotdesc/pr2_planning" file="$(find planning_environment)/planning.yaml" />
+ <rosparam command="load" ns="robotdesc/pr2_collision" file="$(find planning_environment)/collision_checks.yaml" />
<node pkg="ompl_planning" type="motion_planner" args="robot_description:=robotdesc/pr2 collision_map:=collision_map_buffer" respawn="true" output="screen">
<param name="refresh_interval_collision_map" type="double" value="0.0" />
<param name="refresh_interval_kinematic_state" type="double" value="0.0" />
Deleted: pkg/trunk/motion_planning/ompl_planning/planning.yaml
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/planning.yaml 2009-06-05 00:23:35 UTC (rev 16749)
+++ pkg/trunk/motion_planning/ompl_planning/planning.yaml 2009-06-05 01:17:32 UTC (rev 16750)
@@ -1,74 +0,0 @@
-## This file should be loaded under /planning
-
-## the list of groups for which motion planning can be performed
-group_list:
- base
- left_arm
- right_arm
- arms
- base_left_arm
- base_right_arm
- base_arms
-
-## the definition of each group
-groups:
-
- base:
- links:
- base_link
- planner_configs:
- RRTConfig1 SBLConfig1
-
- left_arm:
- links:
- l_shoulder_pan_link
- l_shoulder_lift_link
- l_upper_arm_roll_link
- l_upper_arm_link
- l_elbow_flex_link
- l_forearm_roll_link
- l_forearm_link
- l_wrist_flex_link
- l_wrist_roll_link
- planner_configs:
- RRTConfig2 SBLConfig2
-
- right_arm:
- links:
- r_shoulder_pan_link
- r_shoulder_lift_link
- r_upper_arm_roll_link
- r_upper_arm_link
- r_elbow_flex_link
- r_forearm_roll_link
- r_forearm_link
- r_wrist_flex_link
- r_wrist_roll_link
- planner_configs:
- RRTConfig2 SBLConfig2
-
-## the planner configurations; each config must have a type, which specifies
-## the planner to be used; other parameters can be specified as well
-
-planner_configs:
-
- RRTConfig1:
- type: RRT
- range: 0.75
-
- SBLConfig1:
- type: SBL
- projection: 0 1
- celldim: 1 1
- range: 0.5
-
- RRTConfig2:
- type: RRT
- range: 0.75
-
- SBLConfig2:
- type: SBL
- projection: 5 6
- celldim: 0.1 0.1
-
-
\ No newline at end of file
Modified: pkg/trunk/motion_planning/ompl_planning/src/helpers/CollisionSpaceMonitor.cpp
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/src/helpers/CollisionSpaceMonitor.cpp 2009-06-05 00:23:35 UTC (rev 16749)
+++ pkg/trunk/motion_planning/ompl_planning/src/helpers/CollisionSpaceMonitor.cpp 2009-06-05 01:17:32 UTC (rev 16750)
@@ -119,31 +119,9 @@
{
KinematicStateMonitor::loadRobotDescription();
if (m_kmodel)
- {
- std::vector<std::string> links;
- robot_desc::URDF::Group *g = m_urdf->getGroup("collision_check");
- if (g && g->hasFlag("collision"))
- links = g->linkNames;
-
- m_collisionSpace->lock();
- unsigned int cid = m_collisionSpace->addRobotModel(m_kmodel, links);
- std::vector<robot_desc::URDF::Group*> groups;
- m_urdf->getGroups(groups);
-
- for (unsigned int i = 0 ; i < groups.size() ; ++i)
- if (groups[i]->hasFlag("self_collision"))
- m_collisionSpace->addSelfCollisionGroup(cid, groups[i]->linkNames);
- m_collisionSpace->unlock();
- }
+ m_collisionSpace = m_envModels->getODECollisionModel();
}
-void kinematic_planning::CollisionSpaceMonitor::defaultPosition(void)
-{
- KinematicStateMonitor::defaultPosition();
- if (m_collisionSpace && m_collisionSpace->getModelCount() == 1)
- m_collisionSpace->updateRobotModel(0);
-}
-
bool kinematic_planning::CollisionSpaceMonitor::isMapUpdated(double sec)
{
if (sec > 0 && m_lastMapUpdate < ros::Time::now() - ros::Duration(sec))
Modified: pkg/trunk/motion_planning/ompl_planning/src/helpers/KinematicStateMonitor.cpp
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/src/helpers/KinematicStateMonitor.cpp 2009-06-05 00:23:35 UTC (rev 16749)
+++ pkg/trunk/motion_planning/ompl_planning/src/helpers/KinematicStateMonitor.cpp 2009-06-05 01:17:32 UTC (rev 16750)
@@ -35,6 +35,7 @@
/** \author Ioan Sucan */
#include "kinematic_planning/KinematicStateMonitor.h"
+#include <sstream>
void kinematic_planning::KinematicStateMonitor::kinematicStateSubscribe(void)
{
@@ -59,36 +60,16 @@
void kinematic_planning::KinematicStateMonitor::loadRobotDescription(void)
{
- std::string content;
- if (m_nodeHandle.getParam("robot_description", content))
+ if (m_nodeHandle.hasParam("robot_description"))
{
- m_urdf = boost::shared_ptr<robot_desc::URDF>(new robot_desc::URDF());
- if (m_urdf->loadString(content.c_str()))
- {
- m_kmodel = boost::shared_ptr<planning_models::KinematicModel>(new planning_models::KinematicModel());
- m_kmodel->setVerbose(false);
- m_kmodel->build(*m_urdf);
- m_kmodel->reduceToRobotFrame();
-
- m_robotState = boost::shared_ptr<planning_models::KinematicModel::StateParams>(m_kmodel->newStateParams());
- m_robotState->setInRobotFrame();
-
- m_haveMechanismState = false;
- m_haveBasePos = false;
- }
- else
- m_urdf.reset();
+ m_envModels = boost::shared_ptr<planning_environment::CollisionModels>(new planning_environment::CollisionModels("robot_description"));
+ m_urdf = m_envModels->getParsedDescription();
+ m_kmodel = m_envModels->getKinematicModel();
}
else
ROS_ERROR("Robot model not found! Did you remap robot_description?");
}
-void kinematic_planning::KinematicStateMonitor::defaultPosition(void)
-{
- if (m_kmodel)
- m_kmodel->defaultState();
-}
-
bool kinematic_planning::KinematicStateMonitor::loadedRobot(void) const
{
return m_kmodel;
Modified: pkg/trunk/motion_planning/ompl_planning/src/motion_planner.cpp
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/src/motion_planner.cpp 2009-06-05 00:23:35 UTC (rev 16749)
+++ pkg/trunk/motion_planning/ompl_planning/src/motion_planner.cpp 2009-06-05 01:17:32 UTC (rev 16750)
@@ -490,7 +490,6 @@
virtual void loadRobotDescription(void)
{
CollisionSpaceMonitor::loadRobotDescription();
- defaultPosition();
ROS_DEBUG("=======================================");
std::stringstream ss;
Modified: pkg/trunk/motion_planning/plan_ompl_path/CMakeLists.txt
===================================================================
--- pkg/trunk/motion_planning/plan_ompl_path/CMakeLists.txt 2009-06-05 00:23:35 UTC (rev 16749)
+++ pkg/trunk/motion_planning/plan_ompl_path/CMakeLists.txt 2009-06-05 01:17:32 UTC (rev 16750)
@@ -2,6 +2,8 @@
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
rospack(plan_ompl_path)
+set(ROS_BUILD_TYPE Debug)
+
rospack_add_executable(plan_kinematic_path src/plan_kinematic_path.cpp)
rospack_add_executable(rarm_execute_plan_to_state src/right_arm/execute_plan_to_state.cpp)
Modified: pkg/trunk/motion_planning/plan_ompl_path/manifest.xml
===================================================================
--- pkg/trunk/motion_planning/plan_ompl_path/manifest.xml 2009-06-05 00:23:35 UTC (rev 16749)
+++ pkg/trunk/motion_planning/plan_ompl_path/manifest.xml 2009-06-05 01:17:32 UTC (rev 16750)
@@ -18,7 +18,7 @@
<depend package="pr2_msgs" />
<depend package="pr2_srvs" />
- <depend package="planning_models" />
+ <depend package="planning_environment" />
<depend package="ompl_planning" />
<depend package="robot_mechanism_controllers" />
Added: pkg/trunk/motion_planning/planning_environment/CMakeLists.txt
===================================================================
--- pkg/trunk/motion_planning/planning_environment/CMakeLists.txt (rev 0)
+++ pkg/trunk/motion_planning/planning_environment/CMakeLists.txt 2009-06-05 01:17:32 UTC (rev 16750)
@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+rospack(planning_environment)
+
+rospack_add_library(planning_environment src/robot_models.cpp
+ src/collision_models.cpp)
+
+
+# Tests
+
+# Create a model of the PR2
+rospack_add_executable(test_robot_models test/test_robot_models.cpp)
+rospack_declare_test(test_robot_models)
+rospack_add_gtest_build_flags(test_robot_models)
+target_link_libraries(test_robot_models planning_environment)
+rospack_add_rostest(test/test_robot_models.xml)
Added: pkg/trunk/motion_planning/planning_environment/Makefile
===================================================================
--- pkg/trunk/motion_planning/planning_environment/Makefile (rev 0)
+++ pkg/trunk/motion_planning/planning_environment/Makefile 2009-06-05 01:17:32 UTC (rev 16750)
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
Copied: pkg/trunk/motion_planning/planning_environment/collision_checks.yaml (from rev 16707, pkg/trunk/motion_planning/ompl_planning/collision_checks.yaml)
===================================================================
--- pkg/trunk/motion_planning/planning_environment/collision_checks.yaml (rev 0)
+++ pkg/trunk/motion_planning/planning_environment/collision_checks.yaml 2009-06-05 01:17:32 UTC (rev 16750)
@@ -0,0 +1,76 @@
+## This file should be loaded under <robot description>_collision
+
+
+## links for which collision checking with the environment should be performed
+collision_links:
+ base_link
+ torso_lift_link
+ head_pan_link
+ head_tilt_link
+ r_shoulder_pan_link
+ r_shoulder_lift_link
+ r_upper_arm_roll_link
+ r_upper_arm_link
+ r_elbow_flex_link
+ r_forearm_roll_link
+ r_forearm_link
+ r_wrist_flex_link
+ r_wrist_roll_link
+ r_gripper_palm_link
+ r_gripper_l_finger_link
+ r_gripper_r_finger_link
+ r_gripper_l_finger_tip_link
+ r_gripper_r_finger_tip_link
+
+## self collision is performed between groups of links, usually pairs
+self_collision_groups: scg1 scg2 scg3 scg4 scg5 scg6
+
+scg1:
+ r_forearm_link
+ base_link
+
+scg2:
+ r_gripper_palm_link
+ base_link
+
+scg3:
+ r_gripper_l_finger_link
+ base_link
+
+scg4:
+ r_gripper_r_finger_link
+ base_link
+
+scg5:
+ r_gripper_l_finger_tip_link
+ base_link
+
+scg6:
+ r_gripper_r_finger_tip_link
+ base_link
+
+
+## list of links that the robot can see with its sensors (used to remove
+## parts of the robot from scanned data)
+self_see:
+ l_upper_arm_roll_link
+ r_upper_arm_roll_link
+ l_elbow_flex_link
+ r_elbow_flex_link
+ l_forearm_roll_link
+ r_forearm_roll_link
+ l_wrist_flex_link
+ r_wrist_flex_link
+ l_wrist_roll_link
+ r_wrist_roll_link
+ l_gripper_l_finger_link
+ l_gripper_r_finger_link
+ r_gripper_l_finger_link
+ r_gripper_r_finger_link
+ r_shoulder_pan_link
+ r_shoulder_lift_link
+ l_shoulder_pan_link
+ l_shoulder_lift_link
+ torso_lift_link
+ base_link
+
Property changes on: pkg/trunk/motion_planning/planning_environment/collision_checks.yaml
___________________________________________________________________
Added: svn:mergeinfo
+
Added: pkg/trunk/motion_planning/planning_environment/include/planning_environment/collision_models.h
===================================================================
--- pkg/trunk/motion_planning/planning_environment/include/planning_environment/collision_models.h (rev 0)
+++ pkg/trunk/motion_planning/planning_environment/include/planning_environment/collision_models.h 2009-06-05 01:17:32 UTC (rev 16750)
@@ -0,0 +1,120 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+* Copyright (c) 2008, Willow Garage, Inc.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+*
+* * Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* * Redistributions in binary form must reproduce the above
+* copyright notice, this list of conditions and the following
+* disclaimer in the documentation and/or other materials provided
+* with the distribution.
+* * Neither the name of the Willow Garage nor the names of its
+* contributors may be used to endorse or promote products derived
+* from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+/** \author Ioan Sucan */
+
+#ifndef PLANNING_ENVIRONMENT_COLLISION_MODELS_
+#define PLANNING_ENVIRONMENT_COLLISION_MODELS_
+
+#include "planning_environment/robot_models.h"
+#include <collision_space/environmentODE.h>
+#include <ros/ros.h>
+#include <boost/shared_ptr.hpp>
+
+namespace planning_environment
+{
+
+ /** @htmlinclude ../../manifest.html
+
+ @mainpage
+
+ A class capable of loading a robot model from the parameter server */
+
+ class CollisionModels : public RobotModels
+ {
+ public:
+
+ CollisionModels(const std::string &description, double scale = 1.0, double padd = 0.0) : RobotModels(description), scale_(scale), padd_(padd)
+ {
+ loadCollision();
+ }
+
+ virtual ~CollisionModels(void)
+ {
+ }
+
+ /** Reload the robot description and recreate the model */
+ virtual void reload(void)
+ {
+ RobotModels::reload();
+ ode_collision_model_.reset();
+ self_see_links_.clear();
+ collision_check_links_.clear();
+ self_collision_check_groups_.clear();
+ loadCollision();
+ }
+
+ /** Return the instance of the constructed ODE collision model */
+ const boost::shared_ptr<collision_space::EnvironmentModel> &getODECollisionModel(void) const
+ {
+ return ode_collision_model_;
+ }
+
+ const std::vector<std::string> &getCollisionCheckLinks(void) const
+ {
+ return collision_check_links_;
+ }
+
+ const std::vector<std::string> &getSelfSeeLinks(void) const
+ {
+ return self_see_links_;
+ }
+
+ const std::vector< std::vector<std::string> > &getSelfCollisionGroups(void) const
+ {
+ return self_collision_check_groups_;
+ }
+
+ protected:
+
+ void loadCollision(void);
+ void getSelfSeeLinks(std::vector<std::string> &links);
+ void getCollisionCheckLinks(std::vector<std::string> &links);
+ void getSelfCollisionGroups(std::vector< std::vector<std::string> > &groups);
+
+ std::vector<std::string> self_see_links_;
+ std::vector<std::string> collision_check_links_;
+ std::vector< std::vector<std::string> > self_collision_check_groups_;
+
+ boost::shared_ptr<collision_space::EnvironmentModel> ode_collision_model_;
+
+ double scale_;
+ double padd_;
+ };
+
+
+}
+
+#endif
+
Added: pkg/trunk/motion_planning/planning_environment/include/planning_environment/robot_models.h
===================================================================
--- pkg/trunk/motion_planning/planning_environment/include/planning_environment/robot_models.h (rev 0)
+++ pkg/trunk/motion_planning/planning_environment/include/planning_environment/robot_models.h 2009-06-05 01:17:32 UTC (rev 16750)
@@ -0,0 +1,145 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+* Copyright (c) 2008, Willow Garage, Inc.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+*
+* * Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* * Redistributions in binary form must reproduce the above
+* copyright notice, this list of conditions and the following
+* disclaimer in the documentation and/or other materials provided
+* with the distribution.
+* * Neither the name of the Willow Garage nor the names of its
+* contributors may be used to endorse or promote products derived
+* from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+/** \author Ioan Sucan */
+
+#ifndef PLANNING_ENVIRONMENT_ROBOT_MODELS_
+#define PLANNING_ENVIRONMENT_ROBOT_MODELS_
+
+#include "planning_models/kinematic.h"
+#include <ros/ros.h>
+#include <boost/shared_ptr.hpp>
+
+#include <map>
+#include <string>
+#include <vector>
+
+namespace planning_environment
+{
+
+ /** @htmlinclude ../../manifest.html
+
+ @mainpage
+
+ A class capable of loading a robot model from the parameter server */
+
+ class RobotModels
+ {
+ public:
+
+ /** A class to define a planner configuration */
+ class PlannerConfig
+ {
+ public:
+ PlannerConfig(const std::string &description, const std::string &config) : description_(description), config_(config)
+ {
+ }
+
+ ~PlannerConfig(void)
+ {
+ }
+
+ bool hasParam(const std::string ¶m);
+ std::string getParam(const std::string ¶m);
+
+ private:
+
+ std::string description_;
+ std::string config_;
+ ros::NodeHandle nh_;
+ };
+
+
+ RobotModels(const std::string &description) : description_(description)
+ {
+ loadRobot();
+ }
+
+ virtual ~RobotModels(void)
+ {
+ }
+
+ const std::string &getDescription(void) const
+ {
+ return description_;
+ }
+
+ /** Return the instance of the constructed kinematic model */
+ const boost::shared_ptr<planning_models::KinematicModel> &getKinematicModel(void) const
+ {
+ return kmodel_;
+ }
+
+ /** Return the instance of the parsed robot description */
+ const boost::shared_ptr<robot_desc::URDF> &getParsedDescription(void) const
+ {
+ return urdf_;
+ }
+
+ const std::map< std::string, std::vector<std::string> > &getPlanningGroups(void) const
+ {
+ return planning_groups_;
+ }
+
+ std::vector< boost::shared_ptr<PlannerConfig> > getGroupPlannersConfig(const std::string &group);
+
+ /** Reload the robot description and recreate the model */
+ virtual void reload(void)
+ {
+ planning_groups_.clear();
+ kmodel_.reset();
+ urdf_.reset();
+ loadRobot();
+ }
+
+ protected:
+
+ void loadRobot(void);
+ void getPlanningGroups(std::map< std::string, std::vector<std::string> > &groups);
+
+ ros::NodeHandle nh_;
+
+ std::string description_;
+ std::map< std::string, std::vector<std::string> > planning_groups_;
+
+
+ boost::shared_ptr<planning_models::KinematicModel> kmodel_;
+ boost::shared_ptr<robot_desc::URDF> urdf_;
+ };
+
+
+}
+
+#endif
+
Property changes on: pkg/trunk/motion_planning/planning_environment/include/planning_environment/robot_models.h
___________________________________________________________________
Added: svn:mergeinfo
+
Added: pkg/trunk/motion_planning/planning_environment/mainpage.dox
===================================================================
--- pkg/trunk/motion_planning/planning_environment/mainpage.dox (rev 0)
+++ pkg/trunk/motion_planning/planning_environment/mainpage.dox 2009-06-05 01:17:32 UTC (rev 16750)
@@ -0,0 +1,119 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b planning_environment is ...
+
+<!--
+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
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+\section rosapi ROS API
+
+<!--
+Names are very important in ROS because they can be remapped on the
+command-line, so it is VERY IMPORTANT THAT YOU LIST NAMES AS THEY
+APPEAR IN THE CODE. You should list names of every topic, service and
+parameter used in your code. There is a template below that you can
+use to document each node separately.
+
+List of nodes:
+- \b node_name1
+- \b node_name2
+-->...
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