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From: <jl...@us...> - 2009-08-27 22:35:07
|
Revision: 23188
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23188&view=rev
Author: jleibs
Date: 2009-08-27 22:34:52 +0000 (Thu, 27 Aug 2009)
Log Message:
-----------
Moving dcam package into deprecated in preparation of new camera pipeline.
Added Paths:
-----------
pkg/trunk/deprecated/dcam/
Removed Paths:
-------------
pkg/trunk/stacks/camera_drivers/dcam/
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
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From: <vij...@us...> - 2009-08-27 23:53:12
|
Revision: 23200
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23200&view=rev
Author: vijaypradeep
Date: 2009-08-27 23:52:59 +0000 (Thu, 27 Aug 2009)
Log Message:
-----------
Adding monocam_settler along with unit tests. Also add monocam_settler_node.
Modified Paths:
--------------
pkg/trunk/stacks/calibration/calibration_msgs/manifest.xml
Added Paths:
-----------
pkg/trunk/stacks/calibration/calibration_msgs/msg/ImageObjectFeatures.msg
pkg/trunk/stacks/calibration/calibration_msgs/msg/ImagePoint.msg
pkg/trunk/stacks/calibration/monocam_settler/
pkg/trunk/stacks/calibration/monocam_settler/CMakeLists.txt
pkg/trunk/stacks/calibration/monocam_settler/Makefile
pkg/trunk/stacks/calibration/monocam_settler/action/
pkg/trunk/stacks/calibration/monocam_settler/action/Config.action
pkg/trunk/stacks/calibration/monocam_settler/include/
pkg/trunk/stacks/calibration/monocam_settler/include/monocam_settler/
pkg/trunk/stacks/calibration/monocam_settler/include/monocam_settler/monocam_settler.h
pkg/trunk/stacks/calibration/monocam_settler/manifest.xml
pkg/trunk/stacks/calibration/monocam_settler/msg/
pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigAction.msg
pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigActionFeedback.msg
pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigActionGoal.msg
pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigActionResult.msg
pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigFeedback.msg
pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigGoal.msg
pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigResult.msg
pkg/trunk/stacks/calibration/monocam_settler/src/
pkg/trunk/stacks/calibration/monocam_settler/src/monocam_settler.cpp
pkg/trunk/stacks/calibration/monocam_settler/src/monocam_settler_node.cpp
pkg/trunk/stacks/calibration/monocam_settler/test/
pkg/trunk/stacks/calibration/monocam_settler/test/CMakeLists.txt
pkg/trunk/stacks/calibration/monocam_settler/test/monocam_settler_unittest.cpp
Removed Paths:
-------------
pkg/trunk/calibration_experimental/experimental_calibration_msgs/msg/ImagePoint.msg
Deleted: pkg/trunk/calibration_experimental/experimental_calibration_msgs/msg/ImagePoint.msg
===================================================================
--- pkg/trunk/calibration_experimental/experimental_calibration_msgs/msg/ImagePoint.msg 2009-08-27 23:47:50 UTC (rev 23199)
+++ pkg/trunk/calibration_experimental/experimental_calibration_msgs/msg/ImagePoint.msg 2009-08-27 23:52:59 UTC (rev 23200)
@@ -1,3 +0,0 @@
-# Stores the xy location of a point in an image in pixel coordinates
-float64 x
-float64 y
Modified: pkg/trunk/stacks/calibration/calibration_msgs/manifest.xml
===================================================================
--- pkg/trunk/stacks/calibration/calibration_msgs/manifest.xml 2009-08-27 23:47:50 UTC (rev 23199)
+++ pkg/trunk/stacks/calibration/calibration_msgs/manifest.xml 2009-08-27 23:52:59 UTC (rev 23200)
@@ -9,6 +9,9 @@
<review status="unreviewed" notes=""/>
<url>http://pr.willowgarage.com/wiki/calibration_msgs</url>
+ <!-- common_msgs -->
+ <depend package="geometry_msgs" />
+
<export>
<cpp cflags="-I${prefix}/msg/cpp" />
</export>
Added: pkg/trunk/stacks/calibration/calibration_msgs/msg/ImageObjectFeatures.msg
===================================================================
--- pkg/trunk/stacks/calibration/calibration_msgs/msg/ImageObjectFeatures.msg (rev 0)
+++ pkg/trunk/stacks/calibration/calibration_msgs/msg/ImageObjectFeatures.msg 2009-08-27 23:52:59 UTC (rev 23200)
@@ -0,0 +1,11 @@
+# Synchronized with sensor output
+Header header
+
+# Pixel locations of detected features
+ImagePoint[] image_points
+
+# Defines geometry of detected features in some "object" coordinate frame
+geometry_msgs/Point[] object_points
+
+# False on detection failure or partial detection
+uint8 success
Copied: pkg/trunk/stacks/calibration/calibration_msgs/msg/ImagePoint.msg (from rev 23199, pkg/trunk/calibration_experimental/experimental_calibration_msgs/msg/ImagePoint.msg)
===================================================================
--- pkg/trunk/stacks/calibration/calibration_msgs/msg/ImagePoint.msg (rev 0)
+++ pkg/trunk/stacks/calibration/calibration_msgs/msg/ImagePoint.msg 2009-08-27 23:52:59 UTC (rev 23200)
@@ -0,0 +1,3 @@
+# Stores the xy location of a point in an image in pixel coordinates
+float64 x
+float64 y
Added: pkg/trunk/stacks/calibration/monocam_settler/CMakeLists.txt
===================================================================
--- pkg/trunk/stacks/calibration/monocam_settler/CMakeLists.txt (rev 0)
+++ pkg/trunk/stacks/calibration/monocam_settler/CMakeLists.txt 2009-08-27 23:52:59 UTC (rev 23200)
@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type. Options are:
+# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
+# Debug : w/ debug symbols, w/o optimization
+# Release : w/o debug symbols, w/ optimization
+# RelWithDebInfo : w/ debug symbols, w/ optimization
+# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+rosbuild_genmsg()
+# rosbuild_gensrv()
+
+rosbuild_add_library(${PROJECT_NAME} src/monocam_settler.cpp)
+
+rosbuild_add_executable(monocam_settler_node src/monocam_settler_node.cpp)
+target_link_libraries(monocam_settler_node ${PROJECT_NAME})
+
+
+#common commands for building c++ executables and libraries
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})
+
+add_subdirectory(test EXCLUDE_FROM_ALL)
Added: pkg/trunk/stacks/calibration/monocam_settler/Makefile
===================================================================
--- pkg/trunk/stacks/calibration/monocam_settler/Makefile (rev 0)
+++ pkg/trunk/stacks/calibration/monocam_settler/Makefile 2009-08-27 23:52:59 UTC (rev 23200)
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
Added: pkg/trunk/stacks/calibration/monocam_settler/action/Config.action
===================================================================
--- pkg/trunk/stacks/calibration/monocam_settler/action/Config.action (rev 0)
+++ pkg/trunk/stacks/calibration/monocam_settler/action/Config.action 2009-08-27 23:52:59 UTC (rev 23200)
@@ -0,0 +1,6 @@
+float64 tolerance # Tolerance on each of the features
+uint8 ignore_failures # True if we discard
+duration max_step # The maximum timestep between two elements in an interval
+uint32 cache_size # The size of our cache when searching for an interval
+---
+---
Added: pkg/trunk/stacks/calibration/monocam_settler/include/monocam_settler/monocam_settler.h
===================================================================
--- pkg/trunk/stacks/calibration/monocam_settler/include/monocam_settler/monocam_settler.h (rev 0)
+++ pkg/trunk/stacks/calibration/monocam_settler/include/monocam_settler/monocam_settler.h 2009-08-27 23:52:59 UTC (rev 23200)
@@ -0,0 +1,82 @@
+/*********************************************************************
+* 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.
+*********************************************************************/
+
+#ifndef MONOCAM_SETTLER_MONOCAM_SETTLER_H_
+#define MONOCAM_SETTLER_MONOCAM_SETTLER_H_
+
+#include <boost/shared_ptr.hpp>
+#include <calibration_msgs/ImageObjectFeatures.h>
+#include <calibration_msgs/Interval.h>
+
+#include <settlerlib/sorted_deque.h>
+#include <settlerlib/deflated.h>
+
+#include <monocam_settler/ConfigGoal.h>
+
+namespace monocam_settler
+{
+
+class DeflatedImageObjectFeatures : public settlerlib::Deflated
+{
+public:
+ calibration_msgs::ImageObjectFeaturesConstPtr msg_;
+};
+
+
+class MonocamSettler
+{
+public:
+ MonocamSettler();
+ bool configure(const monocam_settler::ConfigGoal& goal);
+
+ bool add(const calibration_msgs::ImageObjectFeaturesConstPtr msg,
+ calibration_msgs::Interval& interval);
+
+private:
+ bool configured_;
+ double tol_;
+ ros::Duration max_step_;
+ bool ignore_failures_;
+
+ void deflate(const calibration_msgs::ImageObjectFeaturesConstPtr& image_features,
+ DeflatedImageObjectFeatures& deflated);
+
+ typedef settlerlib::SortedDeque< boost::shared_ptr<const DeflatedImageObjectFeatures> > DeflatedMsgCache;
+ typedef settlerlib::SortedDeque<settlerlib::DeflatedConstPtr> DeflatedCache;
+ DeflatedMsgCache cache_;
+};
+
+}
+
+#endif
Added: pkg/trunk/stacks/calibration/monocam_settler/manifest.xml
===================================================================
--- pkg/trunk/stacks/calibration/monocam_settler/manifest.xml (rev 0)
+++ pkg/trunk/stacks/calibration/monocam_settler/manifest.xml 2009-08-27 23:52:59 UTC (rev 23200)
@@ -0,0 +1,21 @@
+<package>
+ <description brief="Waits for features in a single camera to settler">
+ Listens on a ImageFeatures topic, and waits for the data to settle
+ </description>
+ <author>Vijay Pradeep</author>
+ <license>BSD</license>
+ <review status="unreviewed" notes=""/>
+ <url>http://pr.willowgarage.com/wiki/monocam_settler</url>
+
+ <!-- ros -->
+ <depend package="roscpp"/>
+
+ <!-- common_msgs -->
+ <depend package="actionlib_msgs" />
+
+ <depend package="settlerlib"/>
+ <depend package="calibration_msgs"/>
+
+</package>
+
+
Added: pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigAction.msg
===================================================================
--- pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigAction.msg (rev 0)
+++ pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigAction.msg 2009-08-27 23:52:59 UTC (rev 23200)
@@ -0,0 +1,4 @@
+
+ConfigActionGoal action_goal
+ConfigActionResult action_result
+ConfigActionFeedback action_feedback
Added: pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigActionFeedback.msg
===================================================================
--- pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigActionFeedback.msg (rev 0)
+++ pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigActionFeedback.msg 2009-08-27 23:52:59 UTC (rev 23200)
@@ -0,0 +1,4 @@
+
+Header header
+actionlib_msgs/GoalStatus status
+ConfigFeedback feedback
Added: pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigActionGoal.msg
===================================================================
--- pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigActionGoal.msg (rev 0)
+++ pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigActionGoal.msg 2009-08-27 23:52:59 UTC (rev 23200)
@@ -0,0 +1,4 @@
+
+Header header
+actionlib_msgs/GoalID goal_id
+ConfigGoal goal
Added: pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigActionResult.msg
===================================================================
--- pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigActionResult.msg (rev 0)
+++ pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigActionResult.msg 2009-08-27 23:52:59 UTC (rev 23200)
@@ -0,0 +1,4 @@
+
+Header header
+actionlib_msgs/GoalStatus status
+ConfigResult result
Added: pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigFeedback.msg
===================================================================
--- pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigFeedback.msg (rev 0)
+++ pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigFeedback.msg 2009-08-27 23:52:59 UTC (rev 23200)
@@ -0,0 +1 @@
+
Added: pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigGoal.msg
===================================================================
--- pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigGoal.msg (rev 0)
+++ pkg/trunk/stacks/calibration/monocam_settler/msg/ConfigGoal.msg 2009-08-27 23:52:59 UTC (rev 23200)
@@ -0,0 +1,4 @@
+float64 tolerance # Tolerance on each of the features
+uint8 ignore_failures # True if we discard
+duration max_step # The maximum timestep between two elements in an interval
+uint32 cache_size # The size of our cache when searching for an interval
Added: pkg/trunk/stacks/calibration/monocam_settler/src/monocam_settler.cpp
===================================================================
--- pkg/trunk/stacks/calibration/monocam_settler/src/monocam_settler.cpp (rev 0)
+++ pkg/trunk/stacks/calibration/monocam_settler/src/monocam_settler.cpp 2009-08-27 23:52:59 UTC (rev 23200)
@@ -0,0 +1,106 @@
+/*********************************************************************
+* 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 Vijay Pradeep
+
+#include <monocam_settler/monocam_settler.h>
+#include <settlerlib/interval_calc.h>
+
+using namespace monocam_settler;
+
+
+MonocamSettler::MonocamSettler() : cache_(&DeflatedMsgCache::getPtrStamp)
+{
+ configured_ = false;
+}
+
+bool MonocamSettler::configure(const monocam_settler::ConfigGoal& goal)
+{
+ tol_ = goal.tolerance;
+ max_step_ = goal.max_step;
+ ignore_failures_ = goal.ignore_failures;
+ cache_.clear();
+ cache_.setMaxSize(goal.cache_size);
+
+ ROS_DEBUG("Configuring MonocamSettler with tolerance of [%.3f]", tol_);
+
+ configured_ = true;
+ return true;
+}
+
+
+bool MonocamSettler::add(const calibration_msgs::ImageObjectFeaturesConstPtr msg,
+ calibration_msgs::Interval& interval)
+{
+ if (!configured_)
+ {
+ ROS_WARN("Not configured. Going to skip");
+ return false;
+ }
+
+ // Check if detection failed
+ if (!msg->success)
+ {
+ if(!ignore_failures_) // If we care about failures then we should reset the cache
+ cache_.clear();
+ return false;
+ }
+
+ boost::shared_ptr<DeflatedImageObjectFeatures> deflated(new DeflatedImageObjectFeatures);
+ deflate(msg, *deflated);
+ cache_.add(deflated);
+
+ DeflatedCache* bare_cache = (DeflatedCache*)(&cache_);
+
+ std::vector<double> tol_vec(deflated->channels_.size(), tol_);
+
+ interval = settlerlib::IntervalCalc::computeLatestInterval(*bare_cache, tol_vec, max_step_);
+
+ return true;
+}
+
+void MonocamSettler::deflate(const calibration_msgs::ImageObjectFeaturesConstPtr& msg,
+ DeflatedImageObjectFeatures& deflated)
+{
+ deflated.header.stamp = msg->header.stamp;
+
+ const unsigned int N = msg->image_points.size();
+ deflated.channels_.resize( 2 * N );
+ for (unsigned int i=0; i<N; i++)
+ {
+ deflated.channels_[2*i+0] = msg->image_points[i].x;
+ deflated.channels_[2*i+1] = msg->image_points[i].y;
+ }
+ deflated.msg_ = msg;
+}
Added: pkg/trunk/stacks/calibration/monocam_settler/src/monocam_settler_node.cpp
===================================================================
--- pkg/trunk/stacks/calibration/monocam_settler/src/monocam_settler_node.cpp (rev 0)
+++ pkg/trunk/stacks/calibration/monocam_settler/src/monocam_settler_node.cpp 2009-08-27 23:52:59 UTC (rev 23200)
@@ -0,0 +1,102 @@
+/*********************************************************************
+* 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 Vijay Pradeep
+
+#include <ros/ros.h>
+#include <monocam_settler/monocam_settler.h>
+
+using namespace monocam_settler;
+
+monocam_settler::ConfigGoal getParamConfig(ros::NodeHandle& n)
+{
+ monocam_settler::ConfigGoal config;
+
+ n.param("~tolerance", config.tolerance, 1.0);
+ ROS_INFO("tolerance: %.3f", config.tolerance);
+
+ bool ignore_failures;
+ n.param("~ignore_failures", ignore_failures, true);
+ config.ignore_failures = ignore_failures;
+ if (config.ignore_failures)
+ ROS_INFO("Ignore Failures: True");
+ else
+ ROS_INFO("Ignore Failures: False");
+
+ double max_step;
+ n.param("~max_step", max_step, 1000.0);
+ config.max_step = ros::Duration(max_step);
+ ROS_INFO("max step: [%.3fs]", config.max_step.toSec());
+
+ int cache_size;
+ n.param("~cache_size", cache_size, 1000);
+ if (cache_size < 0)
+ ROS_FATAL("cache_size < 0. (cache_size==%i)", cache_size);
+ config.cache_size = (unsigned int) cache_size;
+ ROS_INFO("cache_size: [%u]", config.cache_size);
+
+ return config;
+}
+
+void msgCallback(ros::Publisher* pub, MonocamSettler* settler, const calibration_msgs::ImageObjectFeaturesConstPtr& msg)
+{
+ bool success;
+
+ calibration_msgs::Interval interval;
+ success = settler->add(msg, interval);
+
+ if (success)
+ pub->publish(interval);
+}
+
+int main(int argc, char** argv)
+{
+ ros::init(argc, argv, "monocam_settler");
+
+ ros::NodeHandle n;
+
+ // Set up the MonocamSettler
+ monocam_settler::ConfigGoal config = getParamConfig(n);
+ MonocamSettler settler;
+ settler.configure(config);
+
+ // Output
+ ros::Publisher pub = n.advertise<calibration_msgs::Interval>("settled", 1);
+
+ // Input
+ boost::function<void (const calibration_msgs::ImageObjectFeaturesConstPtr&)> cb = boost::bind(&msgCallback, &pub, &settler, _1);
+ ros::Subscriber sub = n.subscribe(std::string("features"), 1, cb);
+
+ ros::spin();
+}
Added: pkg/trunk/stacks/calibration/monocam_settler/test/CMakeLists.txt
===================================================================
--- pkg/trunk/stacks/calibration/monocam_settler/test/CMakeLists.txt (rev 0)
+++ pkg/trunk/stacks/calibration/monocam_settler/test/CMakeLists.txt 2009-08-27 23:52:59 UTC (rev 23200)
@@ -0,0 +1,5 @@
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR})
+
+# ********** Tests **********
+rospack_add_gtest(test/monocam_settler_unittest monocam_settler_unittest.cpp)
+target_link_libraries(test/monocam_settler_unittest monocam_settler)
Added: pkg/trunk/stacks/calibration/monocam_settler/test/monocam_settler_unittest.cpp
===================================================================
--- pkg/trunk/stacks/calibration/monocam_settler/test/monocam_settler_unittest.cpp (rev 0)
+++ pkg/trunk/stacks/calibration/monocam_settler/test/monocam_settler_unittest.cpp 2009-08-27 23:52:59 UTC (rev 23200)
@@ -0,0 +1,290 @@
+/*********************************************************************
+* 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.
+*********************************************************************/
+
+#include <gtest/gtest.h>
+
+#include <monocam_settler/ConfigGoal.h>
+#include <monocam_settler/monocam_settler.h>
+
+using namespace std;
+using namespace monocam_settler;
+
+
+
+static const unsigned int N = 9;
+static const unsigned int C = 2;
+
+static const double data[N][2*C] = { { 0, 0, 0, 0 },
+ { 1, 2, 1, 1 },
+ { 2, 4, 0, 0 },
+ { 3, 6, 1, 1 },
+ { 4, 8, 0, 0 },
+ { 0, 0, 1, 1 },
+ { 4, 1, 0, 0 },
+ { 8, 2, 1, 1 },
+ { 12, 3, 0, 0 }};
+
+// 2 possible sets of timestamps for the data
+static const unsigned int times[N][2] = { { 0, 0 },
+ { 1, 1 },
+ { 2, 2 },
+ { 3, 3 },
+ { 4, 4 },
+ { 5, 15 },
+ { 6, 16 },
+ { 7, 17 },
+ { 8, 18 } };
+
+static const bool success[N] = { true,
+ true,
+ false,
+ true,
+ true,
+ true,
+ true,
+ true,
+ true };
+
+// add data to the settler, and see what intervals come out
+vector<calibration_msgs::Interval> addToSettler(MonocamSettler& settler, unsigned int time_channel, bool always_success)
+{
+ vector<calibration_msgs::Interval> intervals;
+
+ for (unsigned int i=0; i<N; i++)
+ {
+ calibration_msgs::ImageObjectFeaturesPtr msg(new calibration_msgs::ImageObjectFeatures);
+ msg->header.stamp = ros::Time(times[i][time_channel], 0);
+
+ msg->image_points.resize(C);
+ for (unsigned int j=0; j<C; j++)
+ {
+ msg->image_points[j].x = data[i][2*j+0];
+ msg->image_points[j].y = data[i][2*j+1];
+ }
+ msg->success = always_success || success[i];
+
+ calibration_msgs::Interval cur_interval;
+ bool result = settler.add(msg, cur_interval);
+ if (result)
+ intervals.push_back(cur_interval);
+ else
+ intervals.push_back(calibration_msgs::Interval());
+ }
+
+ return intervals;
+}
+
+void doEasyCheck(const vector<calibration_msgs::Interval>& intervals)
+{
+ ASSERT_EQ(intervals.size(), N);
+ EXPECT_EQ(intervals[0].start.sec, (unsigned int) 0);
+ EXPECT_EQ(intervals[0].end.sec, (unsigned int) 0);
+
+ EXPECT_EQ(intervals[1].start.sec, (unsigned int) 0);
+ EXPECT_EQ(intervals[1].end.sec, (unsigned int) 1);
+
+ EXPECT_EQ(intervals[2].start.sec, (unsigned int) 1);
+ EXPECT_EQ(intervals[2].end.sec, (unsigned int) 2);
+
+ EXPECT_EQ(intervals[3].start.sec, (unsigned int) 2);
+ EXPECT_EQ(intervals[3].end.sec, (unsigned int) 3);
+
+ EXPECT_EQ(intervals[4].start.sec, (unsigned int) 3);
+ EXPECT_EQ(intervals[4].end.sec, (unsigned int) 4);
+
+ EXPECT_EQ(intervals[5].start.sec, (unsigned int) 5);
+ EXPECT_EQ(intervals[5].end.sec, (unsigned int) 5);
+
+ EXPECT_EQ(intervals[6].start.sec, (unsigned int) 6);
+ EXPECT_EQ(intervals[6].end.sec, (unsigned int) 6);
+
+ EXPECT_EQ(intervals[7].start.sec, (unsigned int) 7);
+ EXPECT_EQ(intervals[7].end.sec, (unsigned int) 7);
+
+ EXPECT_EQ(intervals[8].start.sec, (unsigned int) 8);
+ EXPECT_EQ(intervals[8].end.sec, (unsigned int) 8);
+}
+
+void doIgnoreFailuresCheck(const vector<calibration_msgs::Interval>& intervals)
+{
+ ASSERT_EQ(intervals.size(), N);
+ EXPECT_EQ(intervals[0].start.sec, (unsigned int) 0);
+ EXPECT_EQ(intervals[0].end.sec, (unsigned int) 0);
+
+ EXPECT_EQ(intervals[1].start.sec, (unsigned int) 0);
+ EXPECT_EQ(intervals[1].end.sec, (unsigned int) 1);
+
+ EXPECT_EQ(intervals[2].start.sec, (unsigned int) 0);
+ EXPECT_EQ(intervals[2].end.sec, (unsigned int) 0);
+
+ EXPECT_EQ(intervals[3].start.sec, (unsigned int) 0);
+ EXPECT_EQ(intervals[3].end.sec, (unsigned int) 3);
+
+ EXPECT_EQ(intervals[4].start.sec, (unsigned int) 0);
+ EXPECT_EQ(intervals[4].end.sec, (unsigned int) 4);
+
+ EXPECT_EQ(intervals[5].start.sec, (unsigned int) 0);
+ EXPECT_EQ(intervals[5].end.sec, (unsigned int) 5);
+
+ EXPECT_EQ(intervals[6].start.sec, (unsigned int) 0);
+ EXPECT_EQ(intervals[6].end.sec, (unsigned int) 6);
+
+ EXPECT_EQ(intervals[7].start.sec, (unsigned int) 0);
+ EXPECT_EQ(intervals[7].end.sec, (unsigned int) 7);
+
+ EXPECT_EQ(intervals[8].start.sec, (unsigned int) 0);
+ EXPECT_EQ(intervals[8].end.sec, (unsigned int) 8);
+}
+
+void doCatchFailuresCheck(const vector<calibration_msgs::Interval>& intervals)
+{
+ A...
[truncated message content] |
|
From: <rob...@us...> - 2009-08-28 16:32:12
|
Revision: 23260
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23260&view=rev
Author: rob_wheeler
Date: 2009-08-28 16:31:54 +0000 (Fri, 28 Aug 2009)
Log Message:
-----------
Change HardwareInterface::current_time_ from double to ros::Time.
Modified Paths:
--------------
pkg/trunk/controllers/control_toolbox/include/control_toolbox/base_position_pid.h
pkg/trunk/controllers/control_toolbox/include/control_toolbox/pid.h
pkg/trunk/controllers/control_toolbox/include/control_toolbox/sine_sweep.h
pkg/trunk/controllers/control_toolbox/src/base_position_pid.cpp
pkg/trunk/controllers/control_toolbox/src/pid.cpp
pkg/trunk/controllers/control_toolbox/src/sine_sweep.cpp
pkg/trunk/controllers/mechanism_controller_test/src/mechanism_controller_test.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_calibration_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/gripper_calibration_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_traj_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_base_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_odometry.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/wrist_calibration_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_calibration_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/gripper_calibration_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/laser_scanner_traj_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_base_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_odometry.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/wrist_calibration_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_pose_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_twist_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_position_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_ud_calibration_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_velocity_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_pose_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_twist_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/joint_position_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/joint_ud_calibration_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/joint_velocity_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/trigger_controller.cpp
pkg/trunk/nav/teleop_base/src/ground_truth_controller.cpp
pkg/trunk/sandbox/dallas_controller/include/dallas_controller/dallas_controller.h
pkg/trunk/sandbox/dallas_controller/src/dallas_controller.cpp
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/arm_trajectory_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/base_trajectory_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_hybrid_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_pose_twist_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_spline_trajectory_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_tff_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_trajectory_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_twist_controller_ik.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_autotuner.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_calibration_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_chain_constraint_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_chain_sine_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_inverse_dynamics_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_limit_calibration_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_pd_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_position_smoothing_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_trajectory_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/pid_position_velocity_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/pr2_gripper_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/trajectory_controller.h
pkg/trunk/sandbox/experimental_controllers/src/arm_trajectory_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/base_trajectory_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/cartesian_hybrid_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/cartesian_pose_twist_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/cartesian_spline_trajectory_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/cartesian_tff_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/cartesian_trajectory_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/cartesian_twist_controller_ik.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_autotuner.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_calibration_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_chain_constraint_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_chain_sine_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_limit_calibration_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_pd_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_position_smoothing_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_trajectory_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/pid_position_velocity_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/pr2_gripper_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/probe.cpp
pkg/trunk/sandbox/experimental_controllers/src/trajectory_controller.cpp
pkg/trunk/sandbox/experimental_controllers/test/test_trajectory_srv.cpp
pkg/trunk/sandbox/manipulation_msgs/msg/SplineTrajSegment.msg
pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/include/joint_qualification_controllers/checkout_controller.h
pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/include/joint_qualification_controllers/hold_set_controller.h
pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/include/joint_qualification_controllers/hysteresis_controller.h
pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/include/joint_qualification_controllers/sine_sweep_controller.h
pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/src/checkout_controller.cpp
pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/src/hold_set_controller.cpp
pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/src/hysteresis_controller.cpp
pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/src/sine_sweep_controller.cpp
pkg/trunk/sandbox/trajectory_controllers/include/trajectory_controllers/joint_trajectory_controller2.h
pkg/trunk/sandbox/trajectory_controllers/src/joint_trajectory_controller2.cpp
pkg/trunk/stacks/pr2_ethercat_drivers/ethercat_hardware/include/ethercat_hardware/ethercat_hardware.h
pkg/trunk/stacks/pr2_ethercat_drivers/ethercat_hardware/src/ethercat_hardware.cpp
pkg/trunk/stacks/pr2_mechanism/mechanism_control/src/recorder.cpp
pkg/trunk/stacks/pr2_mechanism/mechanism_model/include/mechanism_model/robot.h
pkg/trunk/stacks/pr2_simulator/gazebo_plugin/src/gazebo_mechanism_control.cpp
Modified: pkg/trunk/controllers/control_toolbox/include/control_toolbox/base_position_pid.h
===================================================================
--- pkg/trunk/controllers/control_toolbox/include/control_toolbox/base_position_pid.h 2009-08-28 16:13:07 UTC (rev 23259)
+++ pkg/trunk/controllers/control_toolbox/include/control_toolbox/base_position_pid.h 2009-08-28 16:31:54 UTC (rev 23260)
@@ -61,7 +61,7 @@
* \param actual_pos The [x,y,w] position we're currently at
* \param elapsed_time The time between our current update and the previous update
*/
- tf::Vector3 updateControl(const tf::Vector3& commanded_pos, const tf::Vector3& actual_pos, double elapsed_time) ;
+ tf::Vector3 updateControl(const tf::Vector3& commanded_pos, const tf::Vector3& actual_pos, ros::Duration elapsed_time) ;
private:
control_toolbox::Pid pid_x_ ; //!< Input: odom x error. Output: Odom x velocity command
Modified: pkg/trunk/controllers/control_toolbox/include/control_toolbox/pid.h
===================================================================
--- pkg/trunk/controllers/control_toolbox/include/control_toolbox/pid.h 2009-08-28 16:13:07 UTC (rev 23259)
+++ pkg/trunk/controllers/control_toolbox/include/control_toolbox/pid.h 2009-08-28 16:31:54 UTC (rev 23260)
@@ -111,7 +111,7 @@
* \param p_error Error since last call (p_state-p_target)
* \param dt Change in time since last call
*/
- double updatePid(double p_error, double dt);
+ double updatePid(double p_error, ros::Duration dt);
/*!
* \brief Initialize PID-gains and integral term limits:[iMax:iMin]-[I1:I2]
@@ -178,7 +178,7 @@
* \param error_dot d(Error)/dt since last call
* \param dt Change in time since last call
*/
- double updatePid(double error, double error_dot, double dt);
+ double updatePid(double error, double error_dot, ros::Duration dt);
Pid &operator =(const Pid& p)
{
Modified: pkg/trunk/controllers/control_toolbox/include/control_toolbox/sine_sweep.h
===================================================================
--- pkg/trunk/controllers/control_toolbox/include/control_toolbox/sine_sweep.h 2009-08-28 16:13:07 UTC (rev 23259)
+++ pkg/trunk/controllers/control_toolbox/include/control_toolbox/sine_sweep.h 2009-08-28 16:31:54 UTC (rev 23260)
@@ -33,6 +33,8 @@
*********************************************************************/
#pragma once
+#include <ros/ros.h>
+
namespace control_toolbox {
/***************************************************/
/*! \class SineSweep
@@ -71,7 +73,7 @@
*
* \param dt Change in time since last call
*/
- double update(double dt);
+ double update(ros::Duration dt);
/*!
* \brief Intializes everything and calculates the constants for the sweep.
@@ -85,7 +87,7 @@
private:
double amplitude_; /**< Amplitude of the sweep. */
- double duration_; /**< Duration of the sweep. */
+ ros::Duration duration_; /**< Duration of the sweep. */
double start_angular_freq_; /**< Start angular frequency of the sweep. */
double end_angular_freq_; /**< End angular frequency of the sweep. */
double K_; /**< Constant \f$K\f$. */
Modified: pkg/trunk/controllers/control_toolbox/src/base_position_pid.cpp
===================================================================
--- pkg/trunk/controllers/control_toolbox/src/base_position_pid.cpp 2009-08-28 16:13:07 UTC (rev 23259)
+++ pkg/trunk/controllers/control_toolbox/src/base_position_pid.cpp 2009-08-28 16:31:54 UTC (rev 23260)
@@ -73,7 +73,7 @@
return true ;
}
-tf::Vector3 BasePositionPid::updateControl(const tf::Vector3& commanded_pos, const tf::Vector3& actual_pos, double time_elapsed)
+tf::Vector3 BasePositionPid::updateControl(const tf::Vector3& commanded_pos, const tf::Vector3& actual_pos, ros::Duration time_elapsed)
{
double err_x = actual_pos.x() - commanded_pos.x() ;
double err_y = actual_pos.y() - commanded_pos.y() ;
Modified: pkg/trunk/controllers/control_toolbox/src/pid.cpp
===================================================================
--- pkg/trunk/controllers/control_toolbox/src/pid.cpp 2009-08-28 16:13:07 UTC (rev 23259)
+++ pkg/trunk/controllers/control_toolbox/src/pid.cpp 2009-08-28 16:31:54 UTC (rev 23260)
@@ -138,7 +138,7 @@
}
-double Pid::updatePid(double error, double dt)
+double Pid::updatePid(double error, ros::Duration dt)
{
double p_term, d_term, i_term;
p_error_ = error; //this is pError = pState-pTarget
@@ -155,7 +155,7 @@
p_term = p_gain_ * p_error_;
// Calculate the integral error
- i_error_ = i_error_ + dt * p_error_;
+ i_error_ = i_error_ + dt.toSec() * p_error_;
//Calculate integral contribution to command
i_term = i_gain_ * i_error_;
@@ -173,9 +173,9 @@
}
// Calculate the derivative error
- if (dt != 0)
+ if (dt.toSec() != 0)
{
- d_error_ = (p_error_ - p_error_last_) / dt;
+ d_error_ = (p_error_ - p_error_last_) / dt.toSec();
p_error_last_ = p_error_;
}
// Calculate derivative contribution to command
@@ -186,7 +186,7 @@
}
-double Pid::updatePid(double error, double error_dot, double dt)
+double Pid::updatePid(double error, double error_dot, ros::Duration dt)
{
double p_term, d_term, i_term;
p_error_ = error; //this is pError = pState-pTarget
@@ -203,7 +203,7 @@
p_term = p_gain_ * p_error_;
// Calculate the integral error
- i_error_ = i_error_ + dt * p_error_;
+ i_error_ = i_error_ + dt.toSec() * p_error_;
//Calculate integral contribution to command
i_term = i_gain_ * i_error_;
Modified: pkg/trunk/controllers/control_toolbox/src/sine_sweep.cpp
===================================================================
--- pkg/trunk/controllers/control_toolbox/src/sine_sweep.cpp 2009-08-28 16:13:07 UTC (rev 23259)
+++ pkg/trunk/controllers/control_toolbox/src/sine_sweep.cpp 2009-08-28 16:31:54 UTC (rev 23260)
@@ -44,7 +44,7 @@
K_=0.0;
L_=0.0;
amplitude_=0.0;
- duration_=0.0;
+ duration_ = ros::Duration(0.0);
cmd_ = 0.0;
}
@@ -60,7 +60,7 @@
return false;
amplitude_ = amplitude;
- duration_ = duration;
+ duration_ = ros::Duration(duration);
//calculate the angular fequencies
start_angular_freq_ =2*M_PI*start_freq;
end_angular_freq_ =2*M_PI*end_freq;
@@ -75,11 +75,11 @@
return true;
}
-double SineSweep::update( double dt)
+double SineSweep::update( ros::Duration dt)
{
if(dt<=duration_)
{
- cmd_= amplitude_*sin(K_*(exp((dt)/(L_))-1));
+ cmd_= amplitude_*sin(K_*(exp((dt.toSec())/(L_))-1));
}
else
{
Modified: pkg/trunk/controllers/mechanism_controller_test/src/mechanism_controller_test.cpp
===================================================================
--- pkg/trunk/controllers/mechanism_controller_test/src/mechanism_controller_test.cpp 2009-08-28 16:13:07 UTC (rev 23259)
+++ pkg/trunk/controllers/mechanism_controller_test/src/mechanism_controller_test.cpp 2009-08-28 16:31:54 UTC (rev 23260)
@@ -97,7 +97,7 @@
int count = 0;
while(ros::ok())
{
- hw.hw_->current_time_ = count / 1.0e-3;
+ hw.hw_->current_time_ = ros::Time(count / 1.0e-3);
mc.update();
if(count % 1000000 == 0)
printf("%d seconds simulated \n", count / 1000);
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_calibration_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_calibration_controller.h 2009-08-28 16:13:07 UTC (rev 23259)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_calibration_controller.h 2009-08-28 16:31:54 UTC (rev 23260)
@@ -80,7 +80,7 @@
controller::CasterController cc_;
- double last_publish_time_;
+ ros::Time last_publish_time_;
boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > pub_calibrated_;
};
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/gripper_calibration_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/gripper_calibration_controller.h 2009-08-28 16:13:07 UTC (rev 23259)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/gripper_calibration_controller.h 2009-08-28 16:31:54 UTC (rev 23260)
@@ -69,7 +69,7 @@
ros::NodeHandle node_;
mechanism::RobotState *robot_;
- double last_publish_time_;
+ ros::Time last_publish_time_;
boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > pub_calibrated_;
double search_velocity_;
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_traj_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_traj_controller.h 2009-08-28 16:13:07 UTC (rev 23259)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_traj_controller.h 2009-08-28 16:31:54 UTC (rev 23260)
@@ -109,7 +109,7 @@
std::string name_ ; // The controller name. Used for ROS_INFO Messages
- double traj_start_time_ ; // The time that the trajectory was started (in seconds)
+ ros::Time traj_start_time_ ; // The time that the trajectory was started (in seconds)
double traj_duration_ ; // The length of the current profile (in seconds)
@@ -119,7 +119,7 @@
// Control loop state
control_toolbox::Pid pid_controller_ ; // Position PID Controller
filters::TransferFunctionFilter<double> d_error_filter ; // Filter on derivative term of error
- double last_time_ ; // The previous time at which the control loop was run
+ ros::Time last_time_ ; // The previous time at which the control loop was run
double last_error_ ; // Error for the previous time at which the control loop was run
double tracking_offset_ ; // Position cmd generated by the track_link code
double traj_command_ ; // Position cmd generated by the trajectory code
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_base_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_base_controller.h 2009-08-28 16:13:07 UTC (rev 23259)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_base_controller.h 2009-08-28 16:31:54 UTC (rev 23260)
@@ -140,12 +140,12 @@
/*!
* \brief time corresponding to when update was last called
*/
- double last_time_;
+ ros::Time last_time_;
/*!
* \brief timestamp corresponding to when the command received by the node
*/
- double cmd_received_timestamp_;
+ ros::Time cmd_received_timestamp_;
/*!
* \brief Input speed command vector represents the desired speed requested by the node. Note that this may differ from the
@@ -296,7 +296,7 @@
/*!
* \brief Time interval between state publishing
*/
- double last_publish_time_;
+ ros::Time last_publish_time_;
/*!
* \brief minimum tranlational velocity value allowable
@@ -311,7 +311,7 @@
/*!
* \brief Publish the state
*/
- void publishState(double current_time);
+ void publishState(ros::Time current_time);
};
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_odometry.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_odometry.h 2009-08-28 16:13:07 UTC (rev 23259)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_odometry.h 2009-08-28 16:31:54 UTC (rev 23260)
@@ -176,7 +176,7 @@
/*!
* \brief Stores the last update time and the current update time
*/
- double last_time_,current_time_;
+ ros::Time last_time_,current_time_;
/*!
* \brief Matricies used in the computation of the iterative least squares and related functions
@@ -226,7 +226,7 @@
/*!
* \brief The last time the odometry information was published
*/
- double last_publish_time_;
+ ros::Time last_publish_time_;
/*!
* \brief The time that the odometry is expected to be published next
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/wrist_calibration_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/wrist_calibration_controller.h 2009-08-28 16:13:07 UTC (rev 23259)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/wrist_calibration_controller.h 2009-08-28 16:31:54 UTC (rev 23260)
@@ -78,7 +78,7 @@
mechanism::RobotState *robot_;
ros::NodeHandle node_;
- double last_publish_time_;
+ ros::Time last_publish_time_;
boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > pub_calibrated_;
double search_velocity_;
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_calibration_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_calibration_controller.cpp 2009-08-28 16:13:07 UTC (rev 23259)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_calibration_controller.cpp 2009-08-28 16:31:54 UTC (rev 23260)
@@ -249,7 +249,7 @@
if (pub_calibrated_)
{
- if (last_publish_time_ + 0.5 < robot_->getTime())
+ if (last_publish_time_ + ros::Duration(0.5) < robot_->getTime())
{
if (pub_calibrated_->trylock())
{
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/gripper_calibration_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/gripper_calibration_controller.cpp 2009-08-28 16:13:07 UTC (rev 23259)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/gripper_calibration_controller.cpp 2009-08-28 16:31:54 UTC (rev 23260)
@@ -191,7 +191,7 @@
case CALIBRATED:
if (pub_calibrated_)
{
- if (last_publish_time_ + 0.5 < robot_->getTime())
+ if (last_publish_time_ + ros::Duration(0.5) < robot_->getTime())
{
if (pub_calibrated_->trylock())
{
@@ -209,3 +209,4 @@
}
+
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/laser_scanner_traj_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/laser_scanner_traj_controller.cpp 2009-08-28 16:13:07 UTC (rev 23259)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/laser_scanner_traj_controller.cpp 2009-08-28 16:31:54 UTC (rev 23260)
@@ -235,16 +235,14 @@
// ***** Run the position control loop *****
double cmd = traj_command_ + tracking_offset_ ;
- double time = robot_->getTime() ;
+ ros::Time time = robot_->getTime();
double error(0.0) ;
angles::shortest_angular_distance_with_limits(cmd, joint_state_->position_,
joint_state_->joint_->joint_limit_min_,
joint_state_->joint_->joint_limit_max_,
error) ;
-
-
- double dt = time - last_time_ ;
- double d_error = (error-last_error_)/dt ;
+ ros::Duration dt = time - last_time_ ;
+ double d_error = (error-last_error_)/dt.toSec();
std::vector<double> vin;
vin.push_back(d_error);
std::vector<double> vout = vin;
@@ -262,8 +260,8 @@
double LaserScannerTrajController::getCurProfileTime()
{
- double time = robot_->getTime() ;
- double time_from_start = time - traj_start_time_ ;
+ ros::Time time = robot_->getTime();
+ double time_from_start = (time - traj_start_time_).toSec();
double mod_time = time_from_start - floor(time_from_start/traj_.getTotalTime())*traj_.getTotalTime() ;
return mod_time ;
}
@@ -484,8 +482,7 @@
if (cur_profile_segment != prev_profile_segment_)
{
// Should we be populating header.stamp here? Or, we can simply let ros take care of the timestamp
- ros::Time cur_time ;
- cur_time.fromSec(robot_->getTime()) ;
+ ros::Time cur_time(robot_->getTime()) ;
m_scanner_signal_.header.stamp = cur_time ;
m_scanner_signal_.signal = cur_profile_segment ;
need_to_send_msg_ = true ;
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_base_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_base_controller.cpp 2009-08-28 16:13:07 UTC (rev 23259)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_base_controller.cpp 2009-08-28 16:31:54 UTC (rev 23260)
@@ -61,7 +61,7 @@
// state_publisher_ = NULL;
- last_publish_time_ = 0.0;
+ last_publish_time_ = ros::Time(0.0);
pthread_mutex_init(&pr2_base_controller_lock_, NULL);
}
@@ -268,8 +268,8 @@
void Pr2BaseController::update()
{
- double current_time = base_kin_.robot_state_->getTime();
- double dT = std::min<double>(current_time - last_time_, base_kin_.MAX_DT_);
+ ros::Time current_time = base_kin_.robot_state_->getTime();
+ double dT = std::min<double>((current_time - last_time_).toSec(), base_kin_.MAX_DT_);
if(new_cmd_available_)
{
@@ -283,7 +283,7 @@
}
}
- if((current_time - cmd_received_timestamp_) > timeout_)
+ if((current_time - cmd_received_timestamp_).toSec() > timeout_)
{
cmd_vel_.linear.x = 0;
cmd_vel_.linear.y = 0;
@@ -306,10 +306,10 @@
}
-void Pr2BaseController::publishState(double time)
+void Pr2BaseController::publishState(ros::Time time)
{
- if(time - last_publish_time_ < state_publish_time_)
+ if((time - last_publish_time_).toSec() < state_publish_time_)
{
return;
}
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_odometry.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_odometry.cpp 2009-08-28 16:13:07 UTC (rev 23259)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_odometry.cpp 2009-08-28 16:31:54 UTC (rev 23260)
@@ -123,7 +123,7 @@
void Pr2Odometry::updateOdometry()
{
- double dt = current_time_ - last_time_;
+ double dt = (current_time_ - last_time_).toSec();
double theta = odom_.z;
double costh = cos(theta);
double sinth = sin(theta);
@@ -152,7 +152,7 @@
void Pr2Odometry::getOdometryMessage(nav_msgs::Odometry &msg)
{
msg.header.frame_id = odom_frame_;
- msg.header.stamp.fromSec(current_time_);
+ msg.header.stamp = current_time_;
msg.pose.pose.position.x = odom_.x;
msg.pose.pose.position.y = odom_.y;
msg.pose.pose.position.z = 0.0;
@@ -341,7 +341,7 @@
void Pr2Odometry::publish()
{
- if(fabs(last_publish_time_ - current_time_) < expected_publish_time_)
+ if(fabs((last_publish_time_ - current_time_).toSec()) < expected_publish_time_)
return;
if(odometry_publisher_->trylock())
@@ -357,7 +357,7 @@
this->getOdometry(x, y, yaw, vx, vy, vyaw);
geometry_msgs::TransformStamped &out = transform_publisher_->msg_.transforms[0];
- out.header.stamp.fromSec(current_time_);
+ out.header.stamp = current_time_;
out.header.frame_id = base_footprint_frame_;
out.child_frame_id = odom_frame_;
out.transform.translation.x = -x * cos(yaw) - y * sin(yaw);
@@ -371,7 +371,7 @@
out.transform.rotation.w = quat_trans.w();
geometry_msgs::TransformStamped &out2 = transform_publisher_->msg_.transforms[1];
- out2.header.stamp.fromSec(current_time_);
+ out2.header.stamp = current_time_;
out2.header.frame_id = base_footprint_frame_;
out2.child_frame_id = base_link_frame_;
out2.transform.translation.x = 0;
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/wrist_calibration_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/wrist_calibration_controller.cpp 2009-08-28 16:13:07 UTC (rev 23259)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/wrist_calibration_controller.cpp 2009-08-28 16:31:54 UTC (rev 23260)
@@ -362,7 +362,7 @@
if (pub_calibrated_)
{
- if (last_publish_time_ + 0.5 < robot_->getTime())
+ if (last_publish_time_ +...
[truncated message content] |
|
From: <mar...@us...> - 2009-08-28 20:27:17
|
Revision: 23275
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23275&view=rev
Author: mariusmuja
Date: 2009-08-28 20:27:09 +0000 (Fri, 28 Aug 2009)
Log Message:
-----------
Changes to tabletop_objects
Modified Paths:
--------------
pkg/trunk/sandbox/tabletop_objects/CMakeLists.txt
pkg/trunk/sandbox/tabletop_objects/launch/model_fitter.launch
pkg/trunk/sandbox/tabletop_objects/src/model_fitter.cpp
pkg/trunk/sandbox/tabletop_objects/src/tabletop_detector.cpp
pkg/trunk/sandbox/tabletop_objects/srv/ModelFit.srv
pkg/trunk/stacks/semantic_mapping/door_handle_detector/src/handle_detector_vision.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/cloud_geometry/transforms.cpp
Modified: pkg/trunk/sandbox/tabletop_objects/CMakeLists.txt
===================================================================
--- pkg/trunk/sandbox/tabletop_objects/CMakeLists.txt 2009-08-28 20:26:25 UTC (rev 23274)
+++ pkg/trunk/sandbox/tabletop_objects/CMakeLists.txt 2009-08-28 20:27:09 UTC (rev 23275)
@@ -34,6 +34,8 @@
rosbuild_add_executable(tabletop_detector src/tabletop_detector.cpp)
rosbuild_add_executable(model_fitter src/model_fitter.cpp src/ply.c src/mesh_loader.cpp)
rosbuild_link_boost(model_fitter filesystem)
+rosbuild_add_executable(model_tracker src/model_tracker.cpp src/ply.c src/mesh_loader.cpp)
+rosbuild_link_boost(model_tracker filesystem)
rosbuild_add_executable(publish_scene src/publish_scene.cpp)
rosbuild_add_executable(compute_features src/compute_features.cpp src/ply.c src/mesh_loader.cpp)
rosbuild_link_boost(compute_features filesystem)
Modified: pkg/trunk/sandbox/tabletop_objects/launch/model_fitter.launch
===================================================================
--- pkg/trunk/sandbox/tabletop_objects/launch/model_fitter.launch 2009-08-28 20:26:25 UTC (rev 23274)
+++ pkg/trunk/sandbox/tabletop_objects/launch/model_fitter.launch 2009-08-28 20:27:09 UTC (rev 23275)
@@ -6,7 +6,7 @@
<param name="target_frame" value="base_link" />
</node>
- <node pkg="tabletop_objects" name="model_fitter" type="model_fitter" respawn="true" output="screen">
+ <node pkg="tabletop_objects" name="model_fitter" type="model_fitter" respawn="false" output="screen">
<param name="display" type="bool" value="true" />
<param name="template_path" value="$(find tabletop_objects)/meshes" />
</node>
Modified: pkg/trunk/sandbox/tabletop_objects/src/model_fitter.cpp
===================================================================
--- pkg/trunk/sandbox/tabletop_objects/src/model_fitter.cpp 2009-08-28 20:26:25 UTC (rev 23274)
+++ pkg/trunk/sandbox/tabletop_objects/src/model_fitter.cpp 2009-08-28 20:27:09 UTC (rev 23275)
@@ -71,6 +71,7 @@
public:
distance_field::PropagationDistanceField* distance_voxel_grid_;
float truncate_value;
+ string name_;
mapping_msgs::Object mesh_;
geometry_msgs::Point min_, max_;
@@ -228,6 +229,8 @@
void TemplateModel::load(const string& file)
{
+ name_ = bfs::basename(file);
+
PLYModelLoader modle_loader;
modle_loader.readFromFile(file,mesh_);
@@ -437,6 +440,7 @@
TemplateModel* tpl = new TemplateModel();
tpl->load(filename);
templates.push_back(tpl);
+
}
void loadTemplateModels(const string& path)
@@ -488,6 +492,7 @@
resp.object.object_pose.header.frame_id = req.cloud.header.frame_id;
resp.object.object = mfs.best_fit_[0].model_->objectMesh();
resp.score = mfs.best_fit_[0].score();
+ resp.model_name = mfs.best_fit_[0].model_->name_;
Modified: pkg/trunk/sandbox/tabletop_objects/src/tabletop_detector.cpp
===================================================================
--- pkg/trunk/sandbox/tabletop_objects/src/tabletop_detector.cpp 2009-08-28 20:26:25 UTC (rev 23274)
+++ pkg/trunk/sandbox/tabletop_objects/src/tabletop_detector.cpp 2009-08-28 20:27:09 UTC (rev 23275)
@@ -72,6 +72,7 @@
#include "geometry_msgs/Point32.h"
#include "geometry_msgs/PointStamped.h"
#include "visualization_msgs/Marker.h"
+#include "tabletop_objects/TrackObject.h"
#include <string>
@@ -122,6 +123,7 @@
ros::Publisher object_pub_;
ros::Publisher objects_pub_;
ros::Publisher marker_pub_;
+ ros::Publisher track_object_pub_;
ros::ServiceServer service_;
@@ -199,6 +201,7 @@
// advertise<sensor_msgs::PointCloud> ("~outliers", 1);
// advertise<sensor_msgs::PointCloud> ("~inliers", 1);
marker_pub_ = nh_.advertise<visualization_msgs::Marker>("visualization_marker",1);
+ track_object_pub_ = nh_.advertise<tabletop_objects::TrackObject>("track_object",1);
ros::AdvertiseServiceOptions service_opts = ros::AdvertiseServiceOptions::create<tabletop_objects::FindObjectPoses>("table_top/find_object_poses",
boost::bind(&TabletopDetector::findObjectPoses, this, _1, _2),ros::VoidPtr(), &service_queue_);
@@ -1131,11 +1134,12 @@
}
- void fitModels(const vector<sensor_msgs::PointCloud>& clouds, vector<tabletop_msgs::TableTopObject>& objects)
+ void fitModels(const vector<sensor_msgs::PointCloud>& clouds, vector<tabletop_msgs::TableTopObject>& objects, vector<string>& names)
{
int count = 0;
objects.resize(clouds.size());
+ names.resize(clouds.size());
for (size_t k=0;k<clouds.size();++k) {
if (display_) {
@@ -1152,7 +1156,9 @@
// TODO: change this to real-world average distance error
if (resp.score<5.0) {
- objects[count++] = resp.object;
+ objects[count] = resp.object;
+ names[count] = resp.model_name;
+ count++;
}
}
else {
@@ -1161,6 +1167,7 @@
}
objects.resize(count);
+ names.resize(count);
}
@@ -1211,9 +1218,17 @@
vector<sensor_msgs::PointCloud> clouds;
findTabletopClusters(objects_table_frame, centers, clouds);
- fitModels(clouds, objects);
+ vector<string> names;
+ fitModels(clouds, objects, names);
+ if (objects.size()!=0) {
+ tabletop_objects::TrackObject track_object;
+ track_object.pose = objects[0].object_pose;
+ track_object.object_id = names[0];
+ track_object_pub_.publish(track_object);
+ }
objects_pub_.publish(objects_table_frame);
+
}
Modified: pkg/trunk/sandbox/tabletop_objects/srv/ModelFit.srv
===================================================================
--- pkg/trunk/sandbox/tabletop_objects/srv/ModelFit.srv 2009-08-28 20:26:25 UTC (rev 23274)
+++ pkg/trunk/sandbox/tabletop_objects/srv/ModelFit.srv 2009-08-28 20:27:09 UTC (rev 23275)
@@ -1,4 +1,5 @@
sensor_msgs/PointCloud cloud
---
tabletop_msgs/TableTopObject object
+string model_name
float32 score
Modified: pkg/trunk/stacks/semantic_mapping/door_handle_detector/src/handle_detector_vision.cpp
===================================================================
--- pkg/trunk/stacks/semantic_mapping/door_handle_detector/src/handle_detector_vision.cpp 2009-08-28 20:26:25 UTC (rev 23274)
+++ pkg/trunk/stacks/semantic_mapping/door_handle_detector/src/handle_detector_vision.cpp 2009-08-28 20:27:09 UTC (rev 23275)
@@ -278,7 +278,7 @@
void leftImageCallback(const sensor_msgs::Image::ConstPtr& image)
{
-// ROS_INFO("got left image callback");
+ //ROS_INFO("got left image callback: %lld", image->header.stamp.toNSec());
boost::unique_lock<boost::mutex> lock(data_lock_);
limage_ = image;
@@ -290,14 +290,14 @@
void disparityImageCallback(const sensor_msgs::Image::ConstPtr& image)
{
boost::unique_lock<boost::mutex> lock(data_lock_);
-// ROS_INFO("got disparity callback");
+ //ROS_INFO("got disparity callback: %lld", image->header.stamp.toNSec());
dimage_ = image;
}
void dispinfoCallback(const stereo_msgs::DisparityInfo::ConstPtr& dinfo)
{
boost::unique_lock<boost::mutex> lock(data_lock_);
-// ROS_INFO("got dispinfo callback");
+ //ROS_INFO("got dispinfo callback: %lld", dinfo->header.stamp.toNSec());
dispinfo_ = dinfo;
}
@@ -309,7 +309,7 @@
void cloudCallback(const sensor_msgs::PointCloud::ConstPtr& point_cloud)
{
boost::unique_lock<boost::mutex> lock(data_lock_);
-// ROS_INFO("got cloud callback");
+ //ROS_INFO("got cloud callback: %lld", point_cloud->header.stamp.toNSec());
cloud_ = point_cloud;
}
@@ -828,7 +828,7 @@
boost::unique_lock<boost::mutex> lock(data_lock_);
for (int i=0;i<frames_no_;++i) {
- ROS_INFO("Stereo Handle Detector: Waiting for stereo data");
+ ROS_INFO("DoorHandleDetector: Waiting for stereo data");
got_images_ = false;
preempted_ = false;
// block until images are available to process
@@ -837,7 +837,7 @@
data_cv_.wait(lock);
}
if (preempted_) {
- ROS_INFO("Stereo Handle Detector: detect loop preempted, stereo data not received");
+ ROS_INFO("DoorHandleDetector: detect loop preempted, stereo data not received");
return false;
}
@@ -845,7 +845,7 @@
// show original disparity
cvShowImage("disparity_original", disp_);
}
- ROS_INFO("Stereo Handle Detector: Running handle detection");
+ ROS_INFO("DoorHandleDetector: Running handle detection");
// eliminate from disparity locations that cannot contain a handle
applyPositionPrior();
// run cascade classifier
Modified: pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/cloud_geometry/transforms.cpp
===================================================================
--- pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/cloud_geometry/transforms.cpp 2009-08-28 20:26:25 UTC (rev 23274)
+++ pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/cloud_geometry/transforms.cpp 2009-08-28 20:27:09 UTC (rev 23275)
@@ -202,6 +202,12 @@
transformation(1,3) = centroid_b.y - centroid_rotated_a.y;
transformation(2,3) = centroid_b.z - centroid_rotated_a.z;
+
+// transformation.setIdentity();
+// transformation(0,3) = centroid_b.x - centroid_a.x;
+// transformation(1,3) = centroid_b.y - centroid_a.y;
+// transformation(2,3) = centroid_b.z - centroid_a.z;
+
return true;
}
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <mar...@us...> - 2009-08-28 20:28:13
|
Revision: 23276
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23276&view=rev
Author: mariusmuja
Date: 2009-08-28 20:28:02 +0000 (Fri, 28 Aug 2009)
Log Message:
-----------
3D model tracker added to tabletop_objects
Modified Paths:
--------------
pkg/trunk/sandbox/tabletop_objects/CMakeLists.txt
pkg/trunk/sandbox/tabletop_objects/launch/model_fitter.launch
pkg/trunk/sandbox/tabletop_objects/launch/publish_objects.launch
pkg/trunk/sandbox/tabletop_objects/src/tabletop_detector.cpp
pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/narrow_stereoproc.launch
Added Paths:
-----------
pkg/trunk/sandbox/tabletop_objects/launch/model_tracker.launch
pkg/trunk/sandbox/tabletop_objects/src/model_tracker.cpp
pkg/trunk/sandbox/tabletop_objects/src/spin_features.cpp
pkg/trunk/sandbox/tabletop_objects/src/tabletop_chamfer_match.cpp
pkg/trunk/sandbox/tabletop_objects/src/test_service.cpp
Removed Paths:
-------------
pkg/trunk/sandbox/tabletop_objects/src/compute_features.cpp
Modified: pkg/trunk/sandbox/tabletop_objects/CMakeLists.txt
===================================================================
--- pkg/trunk/sandbox/tabletop_objects/CMakeLists.txt 2009-08-28 20:27:09 UTC (rev 23275)
+++ pkg/trunk/sandbox/tabletop_objects/CMakeLists.txt 2009-08-28 20:28:02 UTC (rev 23276)
@@ -37,5 +37,6 @@
rosbuild_add_executable(model_tracker src/model_tracker.cpp src/ply.c src/mesh_loader.cpp)
rosbuild_link_boost(model_tracker filesystem)
rosbuild_add_executable(publish_scene src/publish_scene.cpp)
-rosbuild_add_executable(compute_features src/compute_features.cpp src/ply.c src/mesh_loader.cpp)
-rosbuild_link_boost(compute_features filesystem)
+rosbuild_add_executable(spin_features src/spin_features.cpp src/ply.c src/mesh_loader.cpp)
+rosbuild_link_boost(spin_features filesystem)
+rosbuild_add_executable(test_service src/test_service.cpp)
Modified: pkg/trunk/sandbox/tabletop_objects/launch/model_fitter.launch
===================================================================
--- pkg/trunk/sandbox/tabletop_objects/launch/model_fitter.launch 2009-08-28 20:27:09 UTC (rev 23275)
+++ pkg/trunk/sandbox/tabletop_objects/launch/model_fitter.launch 2009-08-28 20:28:02 UTC (rev 23276)
@@ -1,9 +1,9 @@
<launch>
<node pkg="tabletop_objects" name="tabletop_detector" type="tabletop_detector" respawn="true" output="screen">
- <!--remap from="stereo" to="narrow_stereo" /-->
+ <remap from="stereo" to="narrow_stereo" />
<param name="display" type="bool" value="false" />
- <param name="target_frame" value="base_link" />
+ <param name="target_frame" value="narrow_stereo_optical_frame" />
</node>
<node pkg="tabletop_objects" name="model_fitter" type="model_fitter" respawn="false" output="screen">
Added: pkg/trunk/sandbox/tabletop_objects/launch/model_tracker.launch
===================================================================
--- pkg/trunk/sandbox/tabletop_objects/launch/model_tracker.launch (rev 0)
+++ pkg/trunk/sandbox/tabletop_objects/launch/model_tracker.launch 2009-08-28 20:28:02 UTC (rev 23276)
@@ -0,0 +1,10 @@
+
+<launch>
+ <node pkg="tabletop_objects" name="model_tracker" type="model_tracker" respawn="false" output="screen">
+ <remap from="stereo" to="narrow_stereo" />
+ <param name="display" type="bool" value="true" />
+ <param name="template_path" value="$(find tabletop_objects)/meshes" />
+ </node>
+
+</launch>
+
Modified: pkg/trunk/sandbox/tabletop_objects/launch/publish_objects.launch
===================================================================
--- pkg/trunk/sandbox/tabletop_objects/launch/publish_objects.launch 2009-08-28 20:27:09 UTC (rev 23275)
+++ pkg/trunk/sandbox/tabletop_objects/launch/publish_objects.launch 2009-08-28 20:28:02 UTC (rev 23276)
@@ -2,7 +2,7 @@
<launch>
<node pkg="tabletop_objects" name="publish_scene" type="publish_scene" respawn="false" output="screen"/>
- <node pkg="tabletop_objects" type="publish_stereo_data.py" respawn="false" output="screen"/>
+ <node pkg="tabletop_objects" name="publish_scene_gui" type="publish_stereo_data.py" respawn="false" output="screen"/>
</launch>
Deleted: pkg/trunk/sandbox/tabletop_objects/src/compute_features.cpp
===================================================================
--- pkg/trunk/sandbox/tabletop_objects/src/compute_features.cpp 2009-08-28 20:27:09 UTC (rev 23275)
+++ pkg/trunk/sandbox/tabletop_objects/src/compute_features.cpp 2009-08-28 20:28:02 UTC (rev 23276)
@@ -1,247 +0,0 @@
-/*********************************************************************
- * 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.
- *********************************************************************/
-
-#include <boost/filesystem.hpp>
-
-#include <ros/ros.h>
-#include "tabletop_objects/mesh_loader.h"
-#include "mapping_msgs/Object.h"
-#include "sensor_msgs/PointCloud.h"
-#include "geometry_msgs/Point.h"
-#include "visualization_msgs/Marker.h"
-
-#include "opencv/cvaux.h"
-
-#include <string>
-
-using namespace std;
-namespace bfs = boost::filesystem;
-
-
-class ComputeFeatures
-{
- cv::Mesh3D* model_mesh_;
- cv::SpinImageModel* model_;
-
- ros::NodeHandle nh_;
- ros::Subscriber cloud_sub_;
- ros::Publisher marker_pub_;
-
- sensor_msgs::PointCloud::ConstPtr cloud_;
-
-public:
-
- ComputeFeatures()
- {
- cloud_sub_ = nh_.subscribe(nh_.resolveName("stereo")+"/cloud", 1, &ComputeFeatures::cloudCallback, this);
- marker_pub_ = nh_.advertise<visualization_msgs::Marker>("visualization_marker",1);
- }
-
- void cloudCallback(const sensor_msgs::PointCloud::ConstPtr& point_cloud)
- {
- cloud_ = point_cloud;
-
- matchModel();
- }
-
- void loadModel(const string& filename)
- {
- mapping_msgs::Object mesh;
- PLYModelLoader modle_loader;
- modle_loader.readFromFile(filename,mesh);
-
- vector<cv::Point3f> points;
- points.resize(mesh.vertices.size());
- for (size_t i=0;i<mesh.vertices.size();++i) {
- points[i] = cv::Point3f(mesh.vertices[i].x,mesh.vertices[i].y,mesh.vertices[i].z);
- }
-
- model_mesh_ = new cv::Mesh3D(points);
- model_ = new cv::SpinImageModel(*model_mesh_);
- ROS_INFO("Constructing spin image model");
- model_->selectRandomSubset(0.02);
- model_->compute();
- ROS_INFO("Model has %d spin images", model_->getSpinCount());
- }
-
-
- void visualize(const vector<cv::Vec2i> points)
- {
- visualization_msgs::Marker marker;
- marker.header.stamp = cloud_->header.stamp;
- marker.header.frame_id = cloud_->header.frame_id;
- marker.ns = "spin_points";
- marker.id = 0;
- marker.type = visualization_msgs::Marker::POINTS;
- marker.action = visualization_msgs::Marker::ADD;
- marker.pose.position.x = 0;
- marker.pose.position.y = 0;
- marker.pose.position.z = 0;
- marker.pose.orientation.x = 0.0;
- marker.pose.orientation.y = 0.0;
- marker.pose.orientation.z = 0.0;
- marker.pose.orientation.w = 1.0;
- marker.scale.x = 0.003;
- marker.scale.y = 0.003;
- marker.scale.z = 0.003;
- marker.color.a = 1.0;
- marker.color.r = 0.0;
- marker.color.g = 1.0;
- marker.color.b = 1.0;
-
- for (size_t i=0;i<points.size();++i) {
- geometry_msgs::Point p;
- p.x = cloud_->points[points[i][1]].x;
- p.y = cloud_->points[points[i][1]].y;
- p.z = cloud_->points[points[i][1]].z;
- marker.points.push_back(p);
- }
-
- marker_pub_.publish(marker);
- }
-
- void visualizeSpinImageLocations(const cv::SpinImageModel& model)
- {
-
- visualization_msgs::Marker marker;
- marker.header.frame_id = cloud_->header.frame_id;
- marker.header.stamp = ros::Time((uint64_t)0ULL);
- marker.ns = "normals";
- marker.id = 1;
- marker.type = visualization_msgs::Marker::LINE_LIST;
- marker.action = visualization_msgs::Marker::ADD;
- marker.pose.orientation.w = 1.0;
- marker.scale.x = 0.001;
- marker.color.a = 1.0;
- marker.color.g = 1.0;
-
- marker.set_points_size(2*model.getSpinCount());
-
- for (size_t i=0;i<model.getSpinCount();++i) {
-
- cv::Point3f point = model.getSpinVertex(i);
- cv::Point3f normal = model.getSpinNormal(i);
- float alpha = 0.02;
-
- marker.points[2*i].x = point.x;
- marker.points[2*i].y = point.y;
- marker.points[2*i].z = point.z;
-
- marker.points[2*i+1].x = point.x + alpha * normal.x;
- marker.points[2*i+1].y = point.y + alpha * normal.y;
- marker.points[2*i+1].z = point.z + alpha * normal.z;
-
- }
-
- marker_pub_.publish(marker);
- }
-
-
- void matchModel()
- {
- vector<cv::Point3f> points;
- points.resize(cloud_->get_points_size());
- for (size_t i=0;i<cloud_->get_points_size();++i) {
- points[i] = cv::Point3f(cloud_->points[i].x,cloud_->points[i].y,cloud_->points[i].z);
- }
-
- cv::Mesh3D scene_mesh(points);
- cv::SpinImageModel scene(scene_mesh);
- ROS_INFO("Computing scene spin images");
- scene.selectRandomSubset(0.05);
- scene.compute();
-
- ROS_INFO("Scene has %d spin images", scene.getSpinCount());
-
-
- visualizeSpinImageLocations(scene);
-
-// vector<vector<cv::Vec2i> > matches;
-// model_->match(scene, matches);
-//
-// ROS_INFO("I have found %d match groups\n", matches.size());
-//
-// for (size_t i=0;i<matches.size();++i) {
-// ROS_INFO("\tGroup %d, size: %d", i, matches[i].size());
-// for (size_t j=0;j<matches[i].size();++j) {
-// printf ("%d ", matches[i][j][0]);
-// }
-// printf("\n");
-// for (size_t j=0;j<matches[i].size();++j) {
-// printf ("%d ", matches[i][j][1]);
-// }
-// printf("\n");
-// }
-//
-// visualize(matches[0]);
-
- }
-
- void init(const string& path)
- {
- bfs::path template_dir(path);
-
- if (!bfs::is_directory(template_dir)) {
- ROS_ERROR("Cannot load templates, %s is not a directory", template_dir.leaf().c_str());
- }
-
- bfs::directory_iterator dir_iter(template_dir), dir_end;
- for(;dir_iter != dir_end; ++dir_iter) {
- if (bfs::extension(*dir_iter)==".ply") {
- loadModel(dir_iter->string());
- }
- }
- }
-
-
-};
-
-
-
-
-int main(int argc, char** argv)
-{
- ros::init(argc,argv,"match_features");
- if (argc<2) {
- ROS_INFO("Usage: %s path", argv[0]);
- }
- ComputeFeatures cf;
-
- cf.init(string(argv[1]));
-
- ROS_INFO("Starting spinning");
- ros::spin();
-
- return 0;
-}
Added: pkg/trunk/sandbox/tabletop_objects/src/model_tracker.cpp
===================================================================
--- pkg/trunk/sandbox/tabletop_objects/src/model_tracker.cpp (rev 0)
+++ pkg/trunk/sandbox/tabletop_objects/src/model_tracker.cpp 2009-08-28 20:28:02 UTC (rev 23276)
@@ -0,0 +1,795 @@
+/*********************************************************************
+ * 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: Marius Muja
+
+#include <boost/filesystem.hpp>
+#include <boost/numeric/ublas/matrix.hpp>
+
+
+#include <ros/ros.h>
+#include "tabletop_objects/ModelFit.h"
+#include "tabletop_objects/mesh_loader.h"
+
+#include "geometry_msgs/Point.h"
+#include "visualization_msgs/Marker.h"
+#include "mapping_msgs/Object.h"
+#include "tabletop_objects/TrackObject.h"
+
+#include "tf/transform_listener.h"
+#include "tf/transform_broadcaster.h"
+
+#include "distance_field/propagation_distance_field.h"
+#include <point_cloud_mapping/geometry/transforms.h>
+
+
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+
+// import most common Eigen types
+USING_PART_OF_NAMESPACE_EIGEN
+
+
+//#define PUBLISH_GRASH_POSE
+
+namespace bfs = boost::filesystem;
+using namespace std;
+
+
+
+namespace model_fit {
+
+
+
+class ModelFitSet;
+
+class TemplateModel {
+
+public:
+ distance_field::PropagationDistanceField* distance_voxel_grid_;
+ float truncate_value;
+ mapping_msgs::Object mesh_;
+
+ geometry_msgs::Point min_, max_;
+
+ TemplateModel() : truncate_value(0.10)
+ {
+
+ }
+
+ ~TemplateModel()
+ {
+ delete distance_voxel_grid_;
+ }
+
+ void load(const string& file);
+
+ geometry_msgs::Pose graspPose()
+ {
+ // TODO: fix this, models annotated with pose
+ geometry_msgs::Pose pose;
+ pose.position.x = 0;
+ pose.position.y = 0;
+ pose.position.z = 0.05;
+
+
+ btMatrix3x3 rotation;
+ rotation.setIdentity();
+ rotation.setEulerZYX(M_PI/2,0,0);
+ btQuaternion orientation;
+ rotation.getRotation(orientation);
+
+ pose.orientation.x = orientation.x();
+ pose.orientation.y = orientation.y();
+ pose.orientation.z = orientation.z();
+ pose.orientation.w = orientation.w();
+
+ return pose;
+ }
+
+ void getExtents(geometry_msgs::Point& low_extent, geometry_msgs::Point& high_extent)
+ {
+ low_extent = min_;
+ high_extent = max_;
+ }
+
+ mapping_msgs::Object objectMesh()
+ {
+ return mesh_;
+ }
+
+ void show(const ros::Publisher& publisher, const geometry_msgs::PoseStamped& pose, float fit_score);
+
+ bool fitPointCloud(sensor_msgs::PointCloud& cloud, ModelFitSet& mfs, Eigen::Matrix4d& transform, double& best_score);
+
+ void findBestFit(sensor_msgs::PointCloud& cloud, ModelFitSet& mfs);
+};
+
+
+class ModelFitSet
+{
+public:
+ struct ModelFit
+ {
+ TemplateModel* model_;
+ Eigen::Matrix4d transform_;
+ float score_;
+ float max_dist_;
+
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+ ModelFit() : model_(NULL)
+ {
+ }
+
+ ModelFit(TemplateModel* model, const Eigen::Matrix4d& transform, float score, float max_dist) :
+ model_(model), transform_(transform), score_(score), max_dist_(max_dist)
+ {
+ }
+
+ float score() {
+ return score_;
+ }
+
+ geometry_msgs::Pose graspPose()
+ {
+ geometry_msgs::Pose object_pose = objectPose();
+ geometry_msgs::Pose model_grasp_pose = model_->graspPose();
+ tf::Pose tf_object_pose;
+ tf::Pose tf_model_grasp_pose;
+
+ tf::poseMsgToTF(object_pose, tf_object_pose);
+ tf::poseMsgToTF(model_grasp_pose, tf_model_grasp_pose);
+
+ tf::Pose tf_grasp_pose = tf_object_pose*tf_model_grasp_pose;
+ geometry_msgs::Pose grasp_pose;
+
+ tf::poseTFToMsg(tf_grasp_pose, grasp_pose);
+
+
+ return grasp_pose;
+ }
+
+ geometry_msgs::Pose objectPose()
+ {
+ geometry_msgs::Pose pose;
+ pose.position.x = transform_(0,3);
+ pose.position.y = transform_(1,3);
+ pose.position.z = transform_(2,3);
+
+
+ Eigen::Quaterniond q(transform_.corner<3,3>(Eigen::TopLeft));
+ pose.orientation.x = q.x();
+ pose.orientation.y = q.y();
+ pose.orientation.z = q.z();
+ pose.orientation.w = q.w();
+
+ return pose;
+ }
+
+ };
+ int size_;
+ int count_;
+ ModelFit* best_fit_;
+
+ ModelFitSet(int size) : size_(size), count_(0)
+ {
+ best_fit_ = new ModelFit[size_];
+ }
+
+ void add(TemplateModel* model, const Eigen::Matrix4d& transform, float score, float max_dist)
+ {
+ ModelFit crt(model,transform, score, max_dist);
+
+ if (count_ < size_) {
+ best_fit_[count_++] = crt;
+ }
+ else if (best_fit_[size_-1].score()>crt.score()) {
+ int i=size_-1;
+ while (i>0 && best_fit_[i].score()>crt.score()) {
+ best_fit_[i] = best_fit_[i-1];
+ i--;
+ }
+ best_fit_[i] = crt;
+ }
+ }
+
+ float bestScore()
+ {
+ if (count_==0) {
+ return numeric_limits<float>::max();
+ }
+ else {
+ return best_fit_[0].score_;
+ }
+ }
+
+
+};
+
+
+
+void TemplateModel::load(const string& file)
+{
+ PLYModelLoader modle_loader;
+ modle_loader.readFromFile(file,mesh_);
+
+ if (mesh_.vertices.size()>0) {
+ min_ = mesh_.vertices[0];
+ max_ = mesh_.vertices[0];
+
+ for (size_t i=0;i<mesh_.vertices.size();++i) {
+
+ if (min_.x > mesh_.vertices[i].x) min_.x = mesh_.vertices[i].x;
+ if (min_.y > mesh_.vertices[i].y) min_.y = mesh_.vertices[i].y;
+ if (min_.z > mesh_.vertices[i].z) min_.z = mesh_.vertices[i].z;
+ if (max_.x < mesh_.vertices[i].x) max_.x = mesh_.vertices[i].x;
+ if (max_.y < mesh_.vertices[i].y) max_.y = mesh_.vertices[i].y;
+ if (max_.z < mesh_.vertices[i].z) max_.z = mesh_.vertices[i].z;
+ }
+ }
+
+ ROS_INFO("Size: (%g,%g,%g, %g, %g, %g)\n",min_.x, min_.y, min_.z, max_.x, max_.y, max_.z);
+
+ distance_voxel_grid_ = new distance_field::PropagationDistanceField(max_.x-min_.x,max_.y-min_.y, max_.z-min_.z, 0.002, min_.x,min_.y,min_.z, 1.0 );
+
+ std::vector<btVector3> points;
+ points.reserve(mesh_.vertices.size());
+ for (size_t i=0; i<mesh_.vertices.size(); ++i)
+ {
+ points.push_back(btVector3(mesh_.vertices[i].x,mesh_.vertices[i].y,mesh_.vertices[i].z));
+ }
+ distance_voxel_grid_->reset();
+ distance_voxel_grid_->addPointsToField(points);
+}
+
+
+void TemplateModel::show(const ros::Publisher& publisher, const geometry_msgs::PoseStamped& pose, float fit_score)
+{
+ visualization_msgs::Marker marker;
+ marker.header.stamp = pose.header.stamp;
+ marker.header.frame_id = pose.header.frame_id;
+ marker.ns = "voxel_grid";
+ marker.id = 100;
+ marker.type = visualization_msgs::Marker::POINTS;
+ marker.action = visualization_msgs::Marker::ADD;
+ marker.pose = pose.pose;
+ marker.scale.x = distance_voxel_grid_->getResolution(distance_field::PropagationDistanceField::DIM_X);
+ marker.scale.y = distance_voxel_grid_->getResolution(distance_field::PropagationDistanceField::DIM_Y);
+ marker.scale.z = distance_voxel_grid_->getResolution(distance_field::PropagationDistanceField::DIM_Z);
+ marker.color.a = 1.0;
+
+
+ marker.color.r = 1.0;
+ marker.color.g = 0.0;
+ marker.color.b = 1.0;
+
+ for (int i=0;i<distance_voxel_grid_->getNumCells(distance_field::PropagationDistanceField::DIM_X);++i) {
+ for (int j=0;j<distance_voxel_grid_->getNumCells(distance_field::PropagationDistanceField::DIM_Y);++j) {
+ for (int k=0;k<distance_voxel_grid_->getNumCells(distance_field::PropagationDistanceField::DIM_Z);++k) {
+
+ if (distance_voxel_grid_->getDistanceFromCell(i,j,k)<0.001) {
+ geometry_msgs::Point p;
+ distance_voxel_grid_->gridToWorld(i,j,k, p.x,p.y,p.z);
+ marker.points.push_back(p);
+ }
+ }
+ }
+ }
+ publisher.publish(marker);
+}
+
+
+bool TemplateModel::fitPointCloud(sensor_msgs::PointCloud& cloud, ModelFitSet& mfs, Eigen::Matrix4d& global_transform, double& best_score)
+{
+ double score = 0;
+ double max_dist = 0;
+
+ sensor_msgs::PointCloud closest;
+ vector<int> indices_points;
+ vector<int> indices_closest;
+ indices_points.reserve(cloud.points.size());
+
+ // compute the cost of the current fit
+ for (size_t i=0;i<cloud.points.size();i++) {
+ double wx = cloud.points[i].x;
+ double wy = cloud.points[i].y;
+ double wz = cloud.points[i].z;
+
+ int x, y, z;
+ double val;
+ if (distance_voxel_grid_->worldToGrid(wx,wy,wz,x,y,z)) {
+
+ distance_field::PropDistanceFieldVoxel& voxel = distance_voxel_grid_->getCell(x,y,z);
+ double cx, cy, cz;
+ distance_voxel_grid_->gridToWorld(voxel.closest_point_[0],voxel.closest_point_[1],voxel.closest_point_[2],
+ cx,cy,cz);
+
+ indices_points.push_back(i);
+ geometry_msgs::Point32 closest_point;
+ closest_point.x = cx;
+ closest_point.y = cy;
+ closest_point.z = cz;
+ closest.points.push_back(closest_point);
+
+ val = distance_voxel_grid_->getDistanceFromCell(x,y,z);
+ }
+ else {
+ val = truncate_value;
+ }
+ if (val>truncate_value) {
+ val = truncate_value;
+ }
+ max_dist = max(max_dist,val);
+ score += val;
+ }
+ score /= (cloud.points.size());
+
+ // if cost worst than the best so far, stop local minima
+ if (score>=best_score) {
+ return false;
+ }
+
+ best_score = score;
+
+ printf("Score: %g\n", score);
+
+ // got better cost, add transform to set
+ Eigen::Matrix4d transform;
+ cloud_geometry::transforms::getInverseTransformation(global_transform, transform);
+ mfs.add(this, transform, score, max_dist);
+
+ printf("Computing transform\n");
+
+ // continue refining transform
+ indices_closest.resize(indices_points.size());
+ for (size_t i = 0;i<indices_points.size();++i) {
+ indices_closest[i] = i;
+ }
+
+ cloud_geometry::transforms::getPointsRigidTransformation(cloud, indices_points, closest, indices_closest, transform);
+ global_transform *= transform;
+
+ for (size_t i=0;i<cloud.points.size();i++) {
+ geometry_msgs::Point32 transformed_point;
+ cloud_geometry::transforms::transformPoint(cloud.points[i],transformed_point, transform);
+ cloud.points[i] = transformed_point;
+ }
+
+ return true;
+}
+
+
+
+void visualize(const sensor_msgs::PointCloud& pc)
+{
+ ros::NodeHandle nh;
+
+ static ros::Publisher cloud_pub;
+
+ if (!cloud_pub) {
+ cloud_pub = nh.advertise<sensor_msgs::PointCloud>("debug_cloud", 1, true);
+ }
+
+ ros::Duration(0.5).sleep();
+
+ cloud_pub.publish(pc);
+}
+
+
+void visualize(ros::Publisher pub,const geometry_msgs::PoseStamped& pose)
+{
+ static int id = 200;
+ visualization_msgs::Marker marker;
+ marker.header.frame_id = pose.header.frame_id;
+ marker.header.stamp = pose.header.stamp;
+ marker.ns = "voxel_grid";
+ marker.id = id++;
+ marker.type = visualization_msgs::Marker::SPHERE;
+ marker.action = visualization_msgs::Marker::ADD;
+ marker.pose = pose.pose;
+ marker.scale.x = 0.05;
+ marker.scale.y = 0.05;
+ marker.scale.z = 0.05;
+ marker.color.a = 1.0;
+
+
+ marker.color.r = 1.0;
+ marker.color.g = 0.0;
+ marker.color.b = 1.0;
+ pub.publish(marker);
+}
+
+
+
+ros::Publisher getMarkerPublisher()
+{
+ ros::NodeHandle nh;
+ static ros::Publisher marker_pub;
+ if (!marker_pub) {
+ marker_pub = nh.advertise<visualization_msgs::Marker>("visualization_marker", 1, true);
+ }
+
+ return marker_pub;
+}
+
+
+/** \brief Convert the transform to a Homogeneous matrix for large operations */
+static boost::numeric::ublas::matrix<double> transformAsMatrix(const tf::Transform& bt)
+{
+ boost::numeric::ublas::matrix<double> outMat(4,4);
+
+ // double * mat = outMat.Store();
+
+ double mv[12];
+ bt.getBasis().getOpenGLSubMatrix(mv);
+
+ tf::Vector3 origin = bt.getOrigin();
+
+ outMat(0,0)= mv[0];
+ outMat(0,1) = mv[4];
+ outMat(0,2) = mv[8];
+ outMat(1,0) = mv[1];
+ outMat(1,1) = mv[5];
+ outMat(1,2) = mv[9];
+ outMat(2,0) = mv[2];
+ outMat(2,1) = mv[6];
+ outMat(2,2) = mv[10];
+
+ outMat(3,0) = outMat(3,1) = outMat(3,2) = 0;
+ outMat(0,3) = origin.x();
+ outMat(1,3) = origin.y();
+ outMat(2,3) = origin.z();
+ outMat(3,3) = 1;
+
+
+ return outMat;
+};
+
+
+void transformPointCloud(const tf::Transform& net_transform, const sensor_msgs::PointCloud & cloudIn, sensor_msgs::PointCloud & cloudOut)
+{
+ boost::numeric::ublas::matrix<double> transform = transformAsMatrix(net_transform);
+
+ unsigned int length = cloudIn.get_points_size();
+
+ boost::numeric::ublas::matrix<double> matIn(4, length);
+
+ double * matrixPtr = matIn.data().begin();
+
+ for (unsigned int i = 0; i < length ; i++)
+ {
+ matrixPtr[i] = cloudIn.points[i].x;
+ matrixPtr[i+length] = cloudIn.points[i].y;
+ matrixPtr[i+ 2* length] = cloudIn.points[i].z;
+ matrixPtr[i+ 3* length] = 1;
+ };
+
+ boost::numeric::ublas::matrix<double> matOut = prod(transform, matIn);
+
+ // Copy relevant data from cloudIn, if needed
+ if (&cloudIn != &cloudOut)
+ {
+ cloudOut.header = cloudIn.header;
+ cloudOut.set_points_size(length);
+ cloudOut.set_channels_size(cloudIn.get_channels_size());
+ for (unsigned int i = 0 ; i < cloudIn.get_channels_size() ; ++i)
+ cloudOut.channels[i] = cloudIn.channels[i];
+ }
+
+ matrixPtr = matOut.data().begin();
+
+ //Override the positions
+ for (unsigned int i = 0; i < length ; i++)
+ {
+ cloudOut.points[i].x = matrixPtr[i];
+ cloudOut.points[i].y = matrixPtr[i + length];
+ cloudOut.points[i].z = matrixPtr[i + 2* length];
+ };
+}
+
+
+void TemplateModel::findBestFit(sensor_msgs::PointCloud& cloud, ModelFitSet& mfs)
+{
+
+// visualize(getMarkerPublisher(), pose_stamped);
+// show(getMarkerPublisher(), pose_stamped, 1);
+//
+//
+// geometry_msgs::PoseStamped ps;
+// ps.header = pose_stamped.header;
+// ps.pose.orientation.w = 1.0;
+// visualize(getMarkerPublisher(), ps);
+// show(getMarkerPublisher(), ps, 1);
+//
+// transformPointCloud(transf.inverse(), cloud, new_cloud);
+// // cloud_geometry::transforms::transformPoints(cloud.points, new_cloud.points, cloud_transform);
+
+// visualize(new_cloud);
+
+ Eigen::Matrix4d cloud_transform;
+ cloud_transform.setIdentity();
+
+ double best_score = numeric_limits<double>::max();
+ while (fitPointCloud(cloud, mfs, cloud_transform, best_score)) ;
+}
+
+
+
+
+
+class ModelTracker
+{
+ ros::NodeHandle nh_;
+ ros::ServiceServer service_;
+ ros::Publisher marker_pub_;
+
+ ros::Subscriber cloud_sub_;
+ ros::Subscriber track_obj_sub_;
+
+ string template_path;
+
+ vector<TemplateModel*> templates;
+
+ sensor_msgs::PointCloudConstPtr cloud_;
+
+ geometry_msgs::PoseStamped object_pose_;
+ std::string object_id_;
+ int object_index_;
+ bool tracking_on_;
+
+ TemplateModel* track_template_;
+
+
+ tf::TransformListener tf_;
+ tf::TransformBroadcaster tb_;
+
+ map<string, int> model_to_index_;
+
+#ifdef PUBLISH_GRASH_POSE
+ tf::TransformBroadcaster tfb_;
+#endif
+
+public:
+ ModelTracker()
+ {
+ nh_.param<string>("~template_path", template_path, "");
+
+ cloud_sub_ = nh_.subscribe(nh_.resolveName("stereo")+"/cloud", 1, &ModelTracker::cloudCallback, this);
+ track_obj_sub_ = nh_.subscribe("track_object", 1, &ModelTracker::trackObjectCallback, this);
+
+ marker_pub_ = nh_.advertise<visualization_msgs::Marker>("visualization_marker",1);
+
+ loadTemplateModels(template_path);
+
+ tracking_on_ = false;
+ }
+
+ ~ModelTracker()
+ {
+ for (size_t i=0;i<templates.size();++i) {
+ delete templates[i];
+ }
+ }
+
+ void cloudCallback(const sensor_msgs::PointCloud::ConstPtr& point_cloud)
+ {
+ cloud_ = point_cloud;
+ ROS_INFO("Got cloud");
+
+ if (tracking_on_) {
+ trackModel();
+ }
+ }
+
+ void printPose(const geometry_msgs::PoseStamped& pose)
+ {
+ ROS_INFO("Pose: %s\nPosition: (%g, %g, %g)\nOrientation: (%g, %g, %g, %g)",
+ pose.header.frame_id.c_str(), pose.pose.position.x, pose.pose.position.y, pose.pose.position.z,
+ pose.pose.orientation.x, pose.pose.orientation.y, pose.pose.orientation.z, pose.pose.orientation.w);
+
+ }
+
+ void trackObjectCallback(const tabletop_objects::TrackObject::ConstPtr& object)
+ {
+
+ object_pose_ = object->pose;
+ object_id_ = object->object_id;
+
+ // publish tracking TF frame
+ tf::Stamped<tf::Pose> transform;
+ tf::poseStampedMsgToTF(object_pose_, transform);
+ transform.parent_id_ = transform.frame_id_;
+ transform.frame_id_ = "tracking_frame";
+ tf_.setTransform(transform);
+ tb_.sendTransform(transform);
+
+
+
+ if (model_to_index_.find(object_id_) != model_to_index_.end()) {
+ object_index_ = model_to_index_[object_id_];
+ tracking_on_ = true;
+ track_template_ = templates[object_index_];
+
+ ROS_INFO("Starting tracker");
+ }
+
+ }
+
+
+
+ void loadTemplate(const string& filename)
+ {
+ TemplateModel* tpl = new TemplateModel();
+ tpl->load(filename);
+ templates.push_back(tpl);
+
+ // keep mapping from mode_id (model name) to index
+ std::string model_id = bfs::basename(filename);
+ model_to_index_[model_id] = templates.size()-1;
+ }
+
+ void loadTemplateModels(const string& path)
+ {
+ bfs::path template_dir(path);
+
+ if (!bfs::is_directory(template_dir)) {
+ ROS_ERROR("Cannot load templates, %s is not a directory", template_dir.leaf().c_str());
+ }
+
+ bfs::directory_iterator dir_iter(templ...
[truncated message content] |
|
From: <bla...@us...> - 2009-08-28 20:42:27
|
Revision: 23277
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23277&view=rev
Author: blaisegassend
Date: 2009-08-28 20:42:19 +0000 (Fri, 28 Aug 2009)
Log Message:
-----------
Renamed prosilica_cam to prosilica_camera
Modified Paths:
--------------
pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/cart_sensors.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/manifest.xml
pkg/trunk/sandbox/hanoi/manifest.xml
pkg/trunk/sandbox/hanoi/src/prosilica_poll.cpp
pkg/trunk/stacks/camera_drivers/camera_launch_files/manifest.xml
pkg/trunk/stacks/camera_drivers/prosilica_camera/CMakeLists.txt
pkg/trunk/stacks/camera_drivers/prosilica_camera/LED.launch
pkg/trunk/stacks/camera_drivers/prosilica_camera/freerun.launch
pkg/trunk/stacks/camera_drivers/prosilica_camera/grab.launch
pkg/trunk/stacks/camera_drivers/prosilica_camera/manifest.xml
pkg/trunk/stacks/camera_drivers/prosilica_camera/prosilica.launch
pkg/trunk/stacks/camera_drivers/prosilica_camera/src/nodes/fake_poll_node.cpp
pkg/trunk/stacks/camera_drivers/prosilica_camera/src/nodes/prosilica_grab.cpp
pkg/trunk/stacks/camera_drivers/prosilica_camera/src/nodes/prosilica_node.cpp
pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml
pkg/trunk/stacks/pr2/pr2_alpha/prf.launch
pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
pkg/trunk/stacks/pr2_simulator/gazebo_plugin/include/gazebo_plugin/ros_prosilica.h
pkg/trunk/stacks/pr2_simulator/gazebo_plugin/manifest.xml
pkg/trunk/stacks/pr2_simulator/gazebo_plugin/src/ros_prosilica.cpp
pkg/trunk/stacks/visual_feature_detectors/outlet_detection/include/outlet_detection/tracker_base.h
pkg/trunk/stacks/visual_feature_detectors/outlet_detection/manifest.xml
pkg/trunk/stacks/visual_feature_detectors/outlet_detection/src/tracker_base.cpp
pkg/trunk/stacks/visual_feature_detectors/outlet_detection/test/test_outlets_2009_05_20_part1.xml
pkg/trunk/stacks/visual_feature_detectors/outlet_detection/test/test_outlets_2009_05_20_part2.xml
pkg/trunk/util/prosilica_capture_rectified/manifest.xml
pkg/trunk/util/prosilica_capture_rectified/src/prosilica_capture.cpp
Added Paths:
-----------
pkg/trunk/stacks/camera_drivers/camera_launch_files/prosilica_camera_view.launch
pkg/trunk/stacks/camera_drivers/prosilica_camera/
Removed Paths:
-------------
pkg/trunk/stacks/camera_drivers/camera_launch_files/prosilica_cam_view.launch
pkg/trunk/stacks/camera_drivers/prosilica_cam/
Modified: pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/cart_sensors.launch
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/cart_sensors.launch 2009-08-28 20:28:02 UTC (rev 23276)
+++ pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/cart_sensors.launch 2009-08-28 20:42:19 UTC (rev 23277)
@@ -24,11 +24,11 @@
</group>
<group ns="prosilica">
- <include file="$(find prosilica_cam)/cam_settings.xml" />
+ <include file="$(find prosilica_camera)/cam_settings.xml" />
<param name="acquisition_mode" type="str" value="Triggered" />
<param name="ip_address" type="str" value="10.68.8.20" />
</group>
- <node machine="two" name="prosilica" pkg="prosilica_cam" type="prosilica_node" output="screen" respawn="true" />
+ <node machine="two" name="prosilica" pkg="prosilica_camera" type="prosilica_node" output="screen" respawn="true" />
<!-- Hokuyo, plug in to machine 2 -->
<node machine="two" pkg="hokuyo_node" type="hokuyo_node" name="tilt_hokuyo_node" args="scan:=tilt_scan">
Modified: pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/manifest.xml
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/manifest.xml 2009-08-28 20:28:02 UTC (rev 23276)
+++ pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/manifest.xml 2009-08-28 20:42:19 UTC (rev 23277)
@@ -12,7 +12,7 @@
<depend package="hokuyo_node" />
<depend package="dcam" />
<depend package="robot_state_publisher" />
- <depend package="prosilica_cam" />
+ <depend package="prosilica_camera" />
<depend package="teleop_head" />
<depend package="pr2_computer_monitor" />
<depend package="pr2_power_board" />
Modified: pkg/trunk/sandbox/hanoi/manifest.xml
===================================================================
--- pkg/trunk/sandbox/hanoi/manifest.xml 2009-08-28 20:28:02 UTC (rev 23276)
+++ pkg/trunk/sandbox/hanoi/manifest.xml 2009-08-28 20:42:19 UTC (rev 23277)
@@ -12,7 +12,7 @@
<depend package="roscpp"/>
<depend package="cmvision"/>
<depend package="sensor_msgs"/>
- <depend package="prosilica_cam"/>
+ <depend package="prosilica_camera"/>
<depend package="gazebo" />
<depend package="gazebo_tools"/>
<depend package="move_arm_tools"/>
Modified: pkg/trunk/sandbox/hanoi/src/prosilica_poll.cpp
===================================================================
--- pkg/trunk/sandbox/hanoi/src/prosilica_poll.cpp 2009-08-28 20:28:02 UTC (rev 23276)
+++ pkg/trunk/sandbox/hanoi/src/prosilica_poll.cpp 2009-08-28 20:42:19 UTC (rev 23277)
@@ -1,5 +1,5 @@
#include "ros/ros.h"
-#include "prosilica_cam/PolledImage.h"
+#include "prosilica_camera/PolledImage.h"
// NOTE: res must be global! CvBridge assumes it can just point
// to the pixel data in the image message.
Modified: pkg/trunk/stacks/camera_drivers/camera_launch_files/manifest.xml
===================================================================
--- pkg/trunk/stacks/camera_drivers/camera_launch_files/manifest.xml 2009-08-28 20:28:02 UTC (rev 23276)
+++ pkg/trunk/stacks/camera_drivers/camera_launch_files/manifest.xml 2009-08-28 20:42:19 UTC (rev 23277)
@@ -8,7 +8,7 @@
<review status="unreviewed" notes=""/>
<url>http://www.ros.org/wiki/camera_launch_files</url>
<depend package="forearm_cam"/>
- <depend package="prosilica_cam"/>
+ <depend package="prosilica_camera"/>
<depend package="dcam"/>
<depend package="stereo_image_proc"/>
<depend package="image_view"/>
Deleted: pkg/trunk/stacks/camera_drivers/camera_launch_files/prosilica_cam_view.launch
===================================================================
--- pkg/trunk/stacks/camera_drivers/camera_launch_files/prosilica_cam_view.launch 2009-08-28 20:28:02 UTC (rev 23276)
+++ pkg/trunk/stacks/camera_drivers/camera_launch_files/prosilica_cam_view.launch 2009-08-28 20:42:19 UTC (rev 23277)
@@ -1,7 +0,0 @@
-<launch>
- <node name="prosilica_view" pkg="image_view" type="image_view" respawn="false" output="screen" cwd="node">
- <param name="window_name" type="str" value="Prosilica camera"/>
- <param name="autosize" type="bool" value="false"/>
- <remap from="image" to="/prosilica/image_rect"/>
- </node>
-</launch>
Copied: pkg/trunk/stacks/camera_drivers/camera_launch_files/prosilica_camera_view.launch (from rev 23270, pkg/trunk/stacks/camera_drivers/camera_launch_files/prosilica_cam_view.launch)
===================================================================
--- pkg/trunk/stacks/camera_drivers/camera_launch_files/prosilica_camera_view.launch (rev 0)
+++ pkg/trunk/stacks/camera_drivers/camera_launch_files/prosilica_camera_view.launch 2009-08-28 20:42:19 UTC (rev 23277)
@@ -0,0 +1,7 @@
+<launch>
+ <node name="prosilica_view" pkg="image_view" type="image_view" respawn="false" output="screen" cwd="node">
+ <param name="window_name" type="str" value="Prosilica camera"/>
+ <param name="autosize" type="bool" value="false"/>
+ <remap from="image" to="/prosilica/image_rect"/>
+ </node>
+</launch>
Modified: pkg/trunk/stacks/camera_drivers/prosilica_camera/CMakeLists.txt
===================================================================
--- pkg/trunk/stacks/camera_drivers/prosilica_cam/CMakeLists.txt 2009-08-28 17:36:20 UTC (rev 23270)
+++ pkg/trunk/stacks/camera_drivers/prosilica_camera/CMakeLists.txt 2009-08-28 20:42:19 UTC (rev 23277)
@@ -3,7 +3,7 @@
#set(ROS_BUILD_TYPE RelWithDebInfo)
set(ROS_BUILD_TYPE Debug)
-rospack(prosilica_cam)
+rospack(prosilica_camera)
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
Modified: pkg/trunk/stacks/camera_drivers/prosilica_camera/LED.launch
===================================================================
--- pkg/trunk/stacks/camera_drivers/prosilica_cam/LED.launch 2009-08-28 17:36:20 UTC (rev 23270)
+++ pkg/trunk/stacks/camera_drivers/prosilica_camera/LED.launch 2009-08-28 20:42:19 UTC (rev 23277)
@@ -7,8 +7,8 @@
<param name="gain_auto" type="str" value="Manual"/>
<param name="gain" type="int" value="0"/>
</group>
- <node name="prosilica" pkg="prosilica_cam" type="prosilica_node" respawn="false" output="screen"/>
- <node name="prosilica_view" pkg="prosilica_cam" type="prosilica_view" respawn="false" output="screen">
+ <node name="prosilica" pkg="prosilica_camera" type="prosilica_node" respawn="false" output="screen"/>
+ <node name="prosilica_view" pkg="prosilica_camera" type="prosilica_view" respawn="false" output="screen">
<!--remap from="Image" to="/prosilica/image"/-->
<remap from="Image" to="/prosilica/image_rect"/>
</node>
Modified: pkg/trunk/stacks/camera_drivers/prosilica_camera/freerun.launch
===================================================================
--- pkg/trunk/stacks/camera_drivers/prosilica_cam/freerun.launch 2009-08-28 17:36:20 UTC (rev 23270)
+++ pkg/trunk/stacks/camera_drivers/prosilica_camera/freerun.launch 2009-08-28 20:42:19 UTC (rev 23277)
@@ -4,5 +4,5 @@
<param name="acquisition_mode" type="str" value="Continuous"/>
<param name="ip_address" type="str" value="10.68.7.20"/>
</group>
- <node name="prosilica" pkg="prosilica_cam" type="prosilica_node" respawn="false" output="screen"/>
+ <node name="prosilica" pkg="prosilica_camera" type="prosilica_node" respawn="false" output="screen"/>
</launch>
Modified: pkg/trunk/stacks/camera_drivers/prosilica_camera/grab.launch
===================================================================
--- pkg/trunk/stacks/camera_drivers/prosilica_cam/grab.launch 2009-08-28 17:36:20 UTC (rev 23270)
+++ pkg/trunk/stacks/camera_drivers/prosilica_camera/grab.launch 2009-08-28 20:42:19 UTC (rev 23277)
@@ -3,6 +3,6 @@
<include file="cam_settings.xml"/>
<param name="acquisition_mode" type="str" value="Triggered"/>
</group>
- <node name="prosilica" pkg="prosilica_cam" type="prosilica_node" respawn="false" output="screen"/>
- <node name="prosilica_grab" pkg="prosilica_cam" type="prosilica_grab" respawn="false" output="screen" cwd="node"/>
+ <node name="prosilica" pkg="prosilica_camera" type="prosilica_node" respawn="false" output="screen"/>
+ <node name="prosilica_grab" pkg="prosilica_camera" type="prosilica_grab" respawn="false" output="screen" cwd="node"/>
</launch>
Modified: pkg/trunk/stacks/camera_drivers/prosilica_camera/manifest.xml
===================================================================
--- pkg/trunk/stacks/camera_drivers/prosilica_cam/manifest.xml 2009-08-28 17:36:20 UTC (rev 23270)
+++ pkg/trunk/stacks/camera_drivers/prosilica_camera/manifest.xml 2009-08-28 20:42:19 UTC (rev 23277)
@@ -15,5 +15,5 @@
<export>
<cpp lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lprosilica" cflags="-I${prefix}/include -I${prefix}/srv/cpp"/>
</export>
- <url>http://www.ros.org/wiki/prosilica_cam</url>
+ <url>http://www.ros.org/wiki/prosilica_camera</url>
</package>
Modified: pkg/trunk/stacks/camera_drivers/prosilica_camera/prosilica.launch
===================================================================
--- pkg/trunk/stacks/camera_drivers/prosilica_cam/prosilica.launch 2009-08-28 17:36:20 UTC (rev 23270)
+++ pkg/trunk/stacks/camera_drivers/prosilica_camera/prosilica.launch 2009-08-28 20:42:19 UTC (rev 23277)
@@ -1,8 +1,8 @@
<launch>
<group ns="prosilica">
- <include file="$(find prosilica_cam)/cam_settings.xml"/>
+ <include file="$(find prosilica_camera)/cam_settings.xml"/>
<param name="acquisition_mode" type="str" value="Triggered"/>
<param name="ip_address" type="str" value="10.68.0.20"/>
</group>
- <node name="prosilica" pkg="prosilica_cam" type="prosilica_node" output="screen" respawn="false"/>
+ <node name="prosilica" pkg="prosilica_camera" type="prosilica_node" output="screen" respawn="false"/>
</launch>
Modified: pkg/trunk/stacks/camera_drivers/prosilica_camera/src/nodes/fake_poll_node.cpp
===================================================================
--- pkg/trunk/stacks/camera_drivers/prosilica_cam/src/nodes/fake_poll_node.cpp 2009-08-28 17:36:20 UTC (rev 23270)
+++ pkg/trunk/stacks/camera_drivers/prosilica_camera/src/nodes/fake_poll_node.cpp 2009-08-28 20:42:19 UTC (rev 23277)
@@ -2,8 +2,8 @@
#include "sensor_msgs/Image.h"
#include "sensor_msgs/CameraInfo.h"
#include "sensor_msgs/fill_image.h"
-#include "prosilica_cam/PolledImage.h"
-#include "prosilica_cam/CameraInfo.h"
+#include "prosilica_camera/PolledImage.h"
+#include "prosilica_camera/CameraInfo.h"
#include <cv.h>
#include <cvwimage.h>
@@ -63,16 +63,16 @@
cvReleaseMat(&D_);
}
- bool camInfo(prosilica_cam::CameraInfo::Request &req,
- prosilica_cam::CameraInfo::Response &rsp)
+ bool camInfo(prosilica_camera::CameraInfo::Request &req,
+ prosilica_camera::CameraInfo::Response &rsp)
{
memcpy((char*)(&rsp.cam_info.D[0]), (char*)(D_->data.db), 5*sizeof(double));
memcpy((char*)(&rsp.cam_info.K[0]), (char*)(K_->data.db), 9*sizeof(double));
return true;
}
- bool grab(prosilica_cam::PolledImage::Request &req,
- prosilica_cam::PolledImage::Response &res)
+ bool grab(prosilica_camera::PolledImage::Request &req,
+ prosilica_camera::PolledImage::Response &res)
{
if (current_iter_ == end_iter_) {
ros::Node::instance()->unadvertiseService("/prosilica/poll");
Modified: pkg/trunk/stacks/camera_drivers/prosilica_camera/src/nodes/prosilica_grab.cpp
===================================================================
--- pkg/trunk/stacks/camera_drivers/prosilica_cam/src/nodes/prosilica_grab.cpp 2009-08-28 17:36:20 UTC (rev 23270)
+++ pkg/trunk/stacks/camera_drivers/prosilica_camera/src/nodes/prosilica_grab.cpp 2009-08-28 20:42:19 UTC (rev 23277)
@@ -4,7 +4,7 @@
#include "opencv/cv.h"
#include "opencv/highgui.h"
-#include "prosilica_cam/PolledImage.h"
+#include "prosilica_camera/PolledImage.h"
static char wndname[] = "Captured image";
@@ -12,8 +12,8 @@
// NOTE: res must be global! CvBridge assumes it can just point
// to the pixel data in the image message.
-prosilica_cam::PolledImage::Request req;
-prosilica_cam::PolledImage::Response res;
+prosilica_camera::PolledImage::Request req;
+prosilica_camera::PolledImage::Response res;
IplImage* callPollProsilica(int timeout)
{
Modified: pkg/trunk/stacks/camera_drivers/prosilica_camera/src/nodes/prosilica_node.cpp
===================================================================
--- pkg/trunk/stacks/camera_drivers/prosilica_cam/src/nodes/prosilica_node.cpp 2009-08-28 17:36:20 UTC (rev 23270)
+++ pkg/trunk/stacks/camera_drivers/prosilica_camera/src/nodes/prosilica_node.cpp 2009-08-28 20:42:19 UTC (rev 23277)
@@ -55,8 +55,8 @@
#include "prosilica/prosilica.h"
#include "prosilica/rolling_sum.h"
-#include "prosilica_cam/PolledImage.h"
-#include "prosilica_cam/CameraInfo.h"
+#include "prosilica_camera/PolledImage.h"
+#include "prosilica_camera/CameraInfo.h"
class ProsilicaNode
{
@@ -448,8 +448,8 @@
return true;
}
- bool camInfoService(prosilica_cam::CameraInfo::Request &req,
- prosilica_cam::CameraInfo::Response &res)
+ bool camInfoService(prosilica_camera::CameraInfo::Request &req,
+ prosilica_camera::CameraInfo::Response &res)
{
res.cam_info = cam_info_;
res.cam_info.header.stamp = ros::Time::now();
@@ -457,8 +457,8 @@
return true;
}
- bool triggeredGrab(prosilica_cam::PolledImage::Request &req,
- prosilica_cam::PolledImage::Response &res)
+ bool triggeredGrab(prosilica_camera::PolledImage::Request &req,
+ prosilica_camera::PolledImage::Response &res)
{
if (mode_ != prosilica::Triggered)
return false;
Modified: pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml 2009-08-28 20:28:02 UTC (rev 23276)
+++ pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml 2009-08-28 20:42:19 UTC (rev 23277)
@@ -29,7 +29,7 @@
<depend package="joint_calibration_monitor" />
<depend package="forearm_cam" />
<depend package="robot_state_publisher" />
- <depend package="prosilica_cam" />
+ <depend package="prosilica_camera" />
<depend package="teleop_pr2" />
<depend package="mechanism_bringup" />
<depend package="robot_mechanism_controllers" />
Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf.launch 2009-08-28 20:28:02 UTC (rev 23276)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf.launch 2009-08-28 20:42:19 UTC (rev 23277)
@@ -62,11 +62,11 @@
<!-- Prosilica camera setup, 7/14/09 -->
<group ns="prosilica">
- <include file="$(find prosilica_cam)/cam_settings.xml"/>
+ <include file="$(find prosilica_camera)/cam_settings.xml"/>
<param name="acquisition_mode" type="str" value="Triggered"/>
<param name="ip_address" type="str" value="10.68.0.20"/>
</group>
- <node machine="three" name="prosilica" pkg="prosilica_cam" type="prosilica_node" output="screen" respawn="true"/>
+ <node machine="three" name="prosilica" pkg="prosilica_camera" type="prosilica_node" output="screen" respawn="true"/>
<!-- Double stereo setup, 7/14/09 -->
<!-- Wide is on robot right, goes to four -->
Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg.launch 2009-08-28 20:28:02 UTC (rev 23276)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg.launch 2009-08-28 20:42:19 UTC (rev 23277)
@@ -61,12 +61,12 @@
<!-- Prosilica camera setup -->
<!--group ns="prosilica">
- <include file="$(find prosilica_cam)/cam_settings.xml"/>
+ <include file="$(find prosilica_camera)/cam_settings.xml"/>
<param name="acquisition_mode" type="str" value="Triggered"/>
<param name="ip_address" type="str" value="10.68.7.20"/>
</group>
- <node machine="three" name="prosilica" pkg="prosilica_cam" type="prosilica_node" output="screen" respawn="true"/-->
+ <node machine="three" name="prosilica" pkg="prosilica_camera" type="prosilica_node" output="screen" respawn="true"/-->
<!-- Double stereo setup -->
<!-- Wide is on robot right, goes to four -->
Modified: pkg/trunk/stacks/pr2_simulator/gazebo_plugin/include/gazebo_plugin/ros_prosilica.h
===================================================================
--- pkg/trunk/stacks/pr2_simulator/gazebo_plugin/include/gazebo_plugin/ros_prosilica.h 2009-08-28 20:28:02 UTC (rev 23276)
+++ pkg/trunk/stacks/pr2_simulator/gazebo_plugin/include/gazebo_plugin/ros_prosilica.h 2009-08-28 20:42:19 UTC (rev 23277)
@@ -39,8 +39,8 @@
// prosilica components
#include "prosilica/prosilica.h"
-#include "prosilica_cam/CameraInfo.h"
-#include "prosilica_cam/PolledImage.h"
+#include "prosilica_camera/CameraInfo.h"
+#include "prosilica_camera/PolledImage.h"
namespace gazebo
@@ -128,10 +128,10 @@
private: static void mouse_cb(int event, int x, int y, int flags, void* param) { };
/// \brief Service call to publish images, cam info
- private: bool camInfoService(prosilica_cam::CameraInfo::Request &req,
- prosilica_cam::CameraInfo::Response &res);
- private: bool triggeredGrab(prosilica_cam::PolledImage::Request &req,
- prosilica_cam::PolledImage::Response &res);
+ private: bool camInfoService(prosilica_camera::CameraInfo::Request &req,
+ prosilica_camera::CameraInfo::Response &res);
+ private: bool triggeredGrab(prosilica_camera::PolledImage::Request &req,
+ prosilica_camera::PolledImage::Response &res);
/// \brief A pointer to the parent camera sensor
private: MonoCameraSensor *myParent;
Modified: pkg/trunk/stacks/pr2_simulator/gazebo_plugin/manifest.xml
===================================================================
--- pkg/trunk/stacks/pr2_simulator/gazebo_plugin/manifest.xml 2009-08-28 20:28:02 UTC (rev 23276)
+++ pkg/trunk/stacks/pr2_simulator/gazebo_plugin/manifest.xml 2009-08-28 20:42:19 UTC (rev 23277)
@@ -10,7 +10,7 @@
<depend package="gazebo"/>
<depend package="opende"/>
<depend package="roscpp"/>
- <depend package="prosilica_cam"/>
+ <depend package="prosilica_camera"/>
<depend package="rospy"/>
<depend package="std_msgs" />
<depend package="nav_msgs" />
Modified: pkg/trunk/stacks/pr2_simulator/gazebo_plugin/src/ros_prosilica.cpp
===================================================================
--- pkg/trunk/stacks/pr2_simulator/gazebo_plugin/src/ros_prosilica.cpp 2009-08-28 20:28:02 UTC (rev 23276)
+++ pkg/trunk/stacks/pr2_simulator/gazebo_plugin/src/ros_prosilica.cpp 2009-08-28 20:42:19 UTC (rev 23277)
@@ -25,7 +25,7 @@
Date: 24 Sept 2008
SVN info: $Id$
@htmlinclude manifest.html
- @b RosProsilica plugin mimics after prosilica_cam package
+ @b RosProsilica plugin mimics after prosilica_camera package
*/
#include <algorithm>
@@ -170,8 +170,8 @@
////////////////////////////////////////////////////////////////////////////////
// service call to return camera info
-bool RosProsilica::camInfoService(prosilica_cam::CameraInfo::Request &req,
- prosilica_cam::CameraInfo::Response &res)
+bool RosProsilica::camInfoService(prosilica_camera::CameraInfo::Request &req,
+ prosilica_camera::CameraInfo::Response &res)
{
// should return the cam info for the entire camera frame
this->camInfoMsg = &res.cam_info;
@@ -225,8 +225,8 @@
////////////////////////////////////////////////////////////////////////////////
// service call to grab an image
-bool RosProsilica::triggeredGrab(prosilica_cam::PolledImage::Request &req,
- prosilica_cam::PolledImage::Response &res)
+bool RosProsilica::triggeredGrab(prosilica_camera::PolledImage::Request &req,
+ prosilica_camera::PolledImage::Response &res)
{
if (req.region_x <= 0 || req.region_y <= 0 || req.width <= 0 || req.height <= 0)
Modified: pkg/trunk/stacks/visual_feature_detectors/outlet_detection/include/outlet_detection/tracker_base.h
===================================================================
--- pkg/trunk/stacks/visual_feature_detectors/outlet_detection/include/outlet_detection/tracker_base.h 2009-08-28 20:28:02 UTC (rev 23276)
+++ pkg/trunk/stacks/visual_feature_detectors/outlet_detection/include/outlet_detection/tracker_base.h 2009-08-28 20:42:19 UTC (rev 23277)
@@ -39,7 +39,7 @@
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <opencv_latest/CvBridge.h>
-#include <prosilica_cam/PolledImage.h>
+#include <prosilica_camera/PolledImage.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <visualization_msgs/Marker.h>
@@ -88,8 +88,8 @@
ros::Publisher marker_pub_;
boost::scoped_ptr<boost::thread> active_thread_;
- prosilica_cam::PolledImage::Request req_;
- prosilica_cam::PolledImage::Response res_;
+ prosilica_camera::PolledImage::Request req_;
+ prosilica_camera::PolledImage::Response res_;
std::string image_service_;
std::string cam_info_service_;
sensor_msgs::Image &img_;
Modified: pkg/trunk/stacks/visual_feature_detectors/outlet_detection/manifest.xml
===================================================================
--- pkg/trunk/stacks/visual_feature_detectors/outlet_detection/manifest.xml 2009-08-28 20:28:02 UTC (rev 23276)
+++ pkg/trunk/stacks/visual_feature_detectors/outlet_detection/manifest.xml 2009-08-28 20:42:19 UTC (rev 23277)
@@ -9,7 +9,7 @@
<depend package="opencv_latest"/>
<depend package="sensor_msgs"/>
<depend package="geometry_msgs"/>
- <depend package="prosilica_cam"/>
+ <depend package="prosilica_camera"/>
<depend package="rospy"/>
<depend package="rostest"/>
<depend package="star_detector"/>
Modified: pkg/trunk/stacks/visual_feature_detectors/outlet_detection/src/tracker_base.cpp
===================================================================
--- pkg/trunk/stacks/visual_feature_detectors/outlet_detection/src/tracker_base.cpp 2009-08-28 20:28:02 UTC (rev 23276)
+++ pkg/trunk/stacks/visual_feature_detectors/outlet_detection/src/tracker_base.cpp 2009-08-28 20:42:19 UTC (rev 23277)
@@ -1,6 +1,6 @@
#include "outlet_detection/tracker_base.h"
#include <geometry_msgs/PoseStamped.h>
-#include <prosilica_cam/CameraInfo.h>
+#include <prosilica_camera/CameraInfo.h>
#include <boost/bind.hpp>
#include <unistd.h> // getpid
@@ -217,8 +217,8 @@
// Try to get calibration parameters
if (!K_) {
if (waitForService(cam_info_service_)) {
- prosilica_cam::CameraInfo::Request cam_req;
- prosilica_cam::CameraInfo::Response cam_rsp;
+ prosilica_camera::CameraInfo::Request cam_req;
+ prosilica_camera::CameraInfo::Response cam_rsp;
if (ros::service::call(cam_info_service_, cam_req, cam_rsp)) {
cam_info_ = cam_rsp.cam_info;
processCameraInfo();
Modified: pkg/trunk/stacks/visual_feature_detectors/outlet_detection/test/test_outlets_2009_05_20_part1.xml
===================================================================
--- pkg/trunk/stacks/visual_feature_detectors/outlet_detection/test/test_outlets_2009_05_20_part1.xml 2009-08-28 20:28:02 UTC (rev 23276)
+++ pkg/trunk/stacks/visual_feature_detectors/outlet_detection/test/test_outlets_2009_05_20_part1.xml 2009-08-28 20:42:19 UTC (rev 23277)
@@ -1,6 +1,6 @@
<launch>
<!-- Feed the images from disk. -->
- <node pkg="prosilica_cam" type="fake_poll_node"
+ <node pkg="prosilica_camera" type="fake_poll_node"
args="--roi $(find outlet_detection)/test/outlets_2009_05_20_part1"
output="screen"/>
<!-- Run the detector -->
Modified: pkg/trunk/stacks/visual_feature_detectors/outlet_detection/test/test_outlets_2009_05_20_part2.xml
===================================================================
--- pkg/trunk/stacks/visual_feature_detectors/outlet_detection/test/test_outlets_2009_05_20_part2.xml 2009-08-28 20:28:02 UTC (rev 23276)
+++ pkg/trunk/stacks/visual_feature_detectors/outlet_detection/test/test_outlets_2009_05_20_part2.xml 2009-08-28 20:42:19 UTC (rev 23277)
@@ -1,6 +1,6 @@
<launch>
<!-- Feed the images from disk. -->
- <node pkg="prosilica_cam" type="fake_poll_node"
+ <node pkg="prosilica_camera" type="fake_poll_node"
args="--roi $(find outlet_detection)/test/outlets_2009_05_20_part2"
output="screen"/>
<!-- Run the detector -->
Modified: pkg/trunk/util/prosilica_capture_rectified/manifest.xml
===================================================================
--- pkg/trunk/util/prosilica_capture_rectified/manifest.xml 2009-08-28 20:28:02 UTC (rev 23276)
+++ pkg/trunk/util/prosilica_capture_rectified/manifest.xml 2009-08-28 20:42:19 UTC (rev 23277)
@@ -13,7 +13,7 @@
<depend package="opencv_latest"/>
<depend package="sensor_msgs"/>
<depend package="tf"/>
- <depend package="prosilica_cam"/>
+ <depend package="prosilica_camera"/>
<depend package="eigen"/>
<depend package="point_cloud_mapping"/>
<depend package="joy"/>
Modified: pkg/trunk/util/prosilica_capture_rectified/src/prosilica_capture.cpp
===================================================================
--- pkg/trunk/util/prosilica_capture_rectified/src/prosilica_capture.cpp 2009-08-28 20:28:02 UTC (rev 23276)
+++ pkg/trunk/util/prosilica_capture_rectified/src/prosilica_capture.cpp 2009-08-28 20:42:19 UTC (rev 23277)
@@ -46,7 +46,7 @@
#include <tf/transform_listener.h>
#include "joy/Joy.h"
-#include "prosilica_cam/PolledImage.h"
+#include "prosilica_camera/PolledImage.h"
#include <point_cloud_mapping/cloud_io.h>
#include <point_cloud_mapping/geometry/angles.h>
@@ -74,8 +74,8 @@
IplImage* image;
IplImage* rectified;
- prosilica_cam::PolledImage::Request req;
- prosilica_cam::PolledImage::Response res;
+ prosilica_camera::PolledImage::Request req;
+ prosilica_camera::PolledImage::Response res;
unsigned int index;
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <mee...@us...> - 2009-08-28 22:11:04
|
Revision: 23293
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23293&view=rev
Author: meeussen
Date: 2009-08-28 22:09:09 +0000 (Fri, 28 Aug 2009)
Log Message:
-----------
rename packages in mechanism stack to be pr2 specific. door opening test passes
Modified Paths:
--------------
pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/base_odom_teleop.xml
pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/lasers_and_filters.xml
pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/manifest.xml
pkg/trunk/calibration_experimental/joint_calibration_monitor/manifest.xml
pkg/trunk/calibration_experimental/kinematic_calibration/demo/controllers.launch
pkg/trunk/calibration_experimental/kinematic_calibration/demo/grab_cb_stereo_laser_robot.launch
pkg/trunk/calibration_experimental/kinematic_calibration/manifest.xml
pkg/trunk/calibration_experimental/kinematic_calibration/src/arm_phasespace_grabber.cpp
pkg/trunk/calibration_experimental/kinematic_calibration/src/laser_head_grabber.cpp
pkg/trunk/calibration_experimental/kinematic_calibration/src/sensor_kinematics_grabber.cpp
pkg/trunk/calibration_experimental/laser_camera_calibration/gatherdata.ros.xml
pkg/trunk/calibration_experimental/laser_cb_processing/manifest.xml
pkg/trunk/calibration_experimental/optical_flag_calibration/controllers.launch
pkg/trunk/calibration_experimental/sandbox/calibration_message_filters/include/calibration_message_filters/stationary_elem.h
pkg/trunk/calibration_experimental/sandbox/calibration_message_filters/include/calibration_message_filters/stationary_filter.h
pkg/trunk/calibration_experimental/sandbox/calibration_message_filters/manifest.xml
pkg/trunk/calibration_experimental/sandbox/laser_head_updater/manifest.xml
pkg/trunk/calibration_experimental/sandbox/laser_head_updater/src/publish_laser_head_tf.cpp
pkg/trunk/calibration_experimental/sandbox/laser_head_updater/src/publish_laser_head_tf_pre.cpp
pkg/trunk/calibration_experimental/sandbox/laser_head_updater/src/publish_laser_head_tf_prg.cpp
pkg/trunk/calibration_experimental/sandbox/pr2_calibration_actions/include/pr2_calibration_actions/capture_hand_led.h
pkg/trunk/calibration_experimental/sandbox/pr2_calibration_actions/include/pr2_calibration_actions/joint_states_channel.h
pkg/trunk/calibration_experimental/sandbox/pr2_calibration_actions/include/pr2_calibration_actions/robot_pixels_capture.h
pkg/trunk/calibration_experimental/sandbox/pr2_calibration_actions/manifest.xml
pkg/trunk/calibration_experimental/sandbox/pr2_calibration_actions/src/capture_hand_led.cpp
pkg/trunk/calibration_experimental/sandbox/pr2_calibration_actions/src/joint_states_channel.cpp
pkg/trunk/controllers/mechanism_controller_test/manifest.xml
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_position_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/manifest.xml
pkg/trunk/controllers/pr2_mechanism_controllers/src/head_position_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/manifest.xml
pkg/trunk/demos/2dnav_gazebo/config/lasers_and_filters.launch
pkg/trunk/demos/2dnav_gazebo/config/tuck_arms.launch
pkg/trunk/demos/arm_gazebo/controllers/l_arm_position_controller.launch
pkg/trunk/demos/arm_gazebo/controllers/r_arm_position_controller.launch
pkg/trunk/demos/arm_gazebo/tests/r_arm_constraint.launch
pkg/trunk/demos/door_demos/launch/2dnav_pr2_door.launch
pkg/trunk/demos/door_demos/launch/base_trajectory_controller.launch
pkg/trunk/demos/door_demos/launch/joint_trajectory_controller.launch
pkg/trunk/demos/door_demos_gazebo/launch/door_only_test.launch
pkg/trunk/demos/door_demos_gazebo/launch/pr2_and_door.launch
pkg/trunk/demos/examples_gazebo/dual_link.launch
pkg/trunk/demos/examples_gazebo/multi_link.launch
pkg/trunk/demos/examples_gazebo/single_link.launch
pkg/trunk/demos/handhold/run.launch
pkg/trunk/demos/milestone2/milestone2_actions/config/controllers.xml
pkg/trunk/demos/plug_in/detect_plugstow.launch
pkg/trunk/demos/plug_in/integration/actions.launch
pkg/trunk/demos/plug_in/integration/controllers.launch
pkg/trunk/demos/plug_in/manifest.xml
pkg/trunk/demos/pr2_gazebo/controllers/pr2_position_controllers.launch
pkg/trunk/demos/pr2_gazebo/controllers/pr2_torso_controller.launch
pkg/trunk/demos/pr2_gazebo/controllers/pr2_trajectory_controllers.launch
pkg/trunk/drivers/cam/camera_trigger_test/four_cams.launch
pkg/trunk/drivers/cam/camera_trigger_test/testmode0.launch
pkg/trunk/drivers/cam/camera_trigger_test/testmode1.launch
pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_arm.launch
pkg/trunk/highlevel/move_arm/launch/gripper_larm.launch
pkg/trunk/highlevel/move_arm/launch/gripper_rarm.launch
pkg/trunk/highlevel/plugs/plugs_core/include/plugs_core/action_unplug.h
pkg/trunk/highlevel/plugs/plugs_core/manifest.xml
pkg/trunk/highlevel/plugs/plugs_core/src/action_unplug.cpp
pkg/trunk/motion_planning/planning_environment/include/planning_environment/monitors/kinematic_model_state_monitor.h
pkg/trunk/motion_planning/planning_environment/manifest.xml
pkg/trunk/motion_planning/planning_environment/src/monitors/kinematic_model_state_monitor.cpp
pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/include/sbpl_arm_planner_node/sbpl_arm_planner_node.h
pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/manifest.xml
pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/src/sbpl_arm_planner_node.cpp
pkg/trunk/motion_planning/planning_research/sbpl_door_planner_action/include/sbpl_door_planner_action/sbpl_door_planner_action.h
pkg/trunk/motion_planning/planning_research/sbpl_door_planner_action/manifest.xml
pkg/trunk/motion_planning/planning_research/sbpl_door_planner_action/src/sbpl_door_planner_action.cpp
pkg/trunk/nav/people_aware_nav/launch/hallway.xml
pkg/trunk/nav/people_aware_nav/launch/nav_robot.xml
pkg/trunk/nav/visual_nav/launch/head_controller.xml
pkg/trunk/nav/visual_nav/launch/robot.launch
pkg/trunk/openrave_planning/ormanipulation/startlasermap.ros.xml
pkg/trunk/openrave_planning/orrosplanning/manifest.xml
pkg/trunk/openrave_planning/orrosplanning/src/rosrobotcontroller.h
pkg/trunk/pr2/cb_characterization/collect_cb_data.launch
pkg/trunk/pr2/hot_box_test/manifest.xml
pkg/trunk/pr2/life_test/arm_life_test/controller_cartesian_tff_left.launch
pkg/trunk/pr2/life_test/arm_life_test/controller_cartesian_tff_right.launch
pkg/trunk/pr2/life_test/arm_life_test/controller_cartesian_trajectory_left.launch
pkg/trunk/pr2/life_test/arm_life_test/controller_cartesian_trajectory_right.launch
pkg/trunk/pr2/life_test/arm_life_test/controller_cartesian_twist_ik_right.launch
pkg/trunk/pr2/life_test/arm_life_test/run_random_wrenches.launch
pkg/trunk/pr2/life_test/caster_life_test/life_test.launch
pkg/trunk/pr2/life_test/laser_tilt_test/life_test/life_test.launch
pkg/trunk/pr2/life_test/manifest.xml
pkg/trunk/pr2/qualification/onboard/checkout/robot_checkout.launch
pkg/trunk/pr2/qualification/onboard/full_arm_test/hold_arms.launch
pkg/trunk/pr2/qualification/tests/caster_test/caster_checkout.launch
pkg/trunk/pr2/qualification/tests/forearm_cam_test/ethercat.launch
pkg/trunk/pr2/qualification/tests/full_arm_test/full_arm_checkout.launch
pkg/trunk/pr2/qualification/tests/gripper_test/fingertip_qualification.launch
pkg/trunk/pr2/qualification/tests/gripper_test/gripper_checkout.launch
pkg/trunk/pr2/qualification/tests/gripper_test/hysteresis_gripper.launch
pkg/trunk/pr2/qualification/tests/head_test/head_checkout.launch
pkg/trunk/pr2/qualification/tests/head_test/hysteresis_head_pan.launch
pkg/trunk/pr2/qualification/tests/head_test/hysteresis_head_tilt.launch
pkg/trunk/pr2/qualification/tests/head_test/sinesweep_head_pan.launch
pkg/trunk/pr2/qualification/tests/head_test/sinesweep_head_tilt.launch
pkg/trunk/pr2/qualification/tests/laser_tilt_test/hysteresis_laser_tilt.launch
pkg/trunk/pr2/qualification/tests/laser_tilt_test/sinesweep_laser_tilt.launch
pkg/trunk/pr2/qualification/tests/shoulder_test/hysteresis_shoulder_lift.launch
pkg/trunk/pr2/qualification/tests/shoulder_test/hysteresis_shoulder_pan.launch
pkg/trunk/pr2/qualification/tests/shoulder_test/hysteresis_upper_arm_roll.launch
pkg/trunk/pr2/qualification/tests/shoulder_test/shoulder_checkout.launch
pkg/trunk/pr2/qualification/tests/shoulder_test/sinesweep_shoulder_lift.launch
pkg/trunk/pr2/qualification/tests/shoulder_test/sinesweep_shoulder_pan.launch
pkg/trunk/pr2/qualification/tests/shoulder_test/sinesweep_upper_arm_roll.launch
pkg/trunk/pr2/qualification/tests/torso_lift_test/hysteresis_torso_lift.launch
pkg/trunk/pr2/qualification/tests/torso_lift_test/torso_checkout.launch
pkg/trunk/pr2/qualification/tests/upperarm_test/hysteresis_elbow_flex.launch
pkg/trunk/pr2/qualification/tests/upperarm_test/hysteresis_forearm_roll.launch
pkg/trunk/pr2/qualification/tests/upperarm_test/sinesweep_elbow_flex.launch
pkg/trunk/pr2/qualification/tests/upperarm_test/sinesweep_forearm_roll.launch
pkg/trunk/pr2/qualification/tests/upperarm_test/upperarm_checkout.launch
pkg/trunk/pr2/qualification/tests/wrist_test/hysteresis_wrist_flex.launch
pkg/trunk/pr2/qualification/tests/wrist_test/hysteresis_wrist_roll.launch
pkg/trunk/pr2/qualification/tests/wrist_test/sinesweep_wrist_flex.launch
pkg/trunk/pr2/qualification/tests/wrist_test/sinesweep_wrist_roll.launch
pkg/trunk/pr2/qualification/tests/wrist_test/wrist_checkout.launch
pkg/trunk/pr2/teleop/teleop_head/manifest.xml
pkg/trunk/pr2/teleop/teleop_head/teleop_head.cpp
pkg/trunk/pr2/teleop/teleop_head/teleop_head_keyboard.cpp
pkg/trunk/pr2/teleop/teleop_joint_effort/manifest.xml
pkg/trunk/pr2/teleop/teleop_pr2/manifest.xml
pkg/trunk/pr2/teleop/teleop_pr2/teleop_pr2.cpp
pkg/trunk/pr2/teleop/teleop_spacenav/manifest.xml
pkg/trunk/pr2/teleop/teleop_spacenav/teleop_spacenav.launch
pkg/trunk/pr2/tune_joints/launch_controllers.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/arm_cart/run_arm_gravity_compensate.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/arm_cart/run_base_trajectory_controller.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/arm_cart/run_manipulation.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/arm_cart/run_random_positions.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/arm_cart/run_random_wrenches.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/arm_cart/run_spine_trajectory_controller.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/arm_cart/run_trajectory_controller.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/arm_cart/run_wrist_gravity_compensate.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/hca.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/hcb.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/hcc.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_head_cart/tilt_laser_scan.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_laser_tilt/laser_tilt_controller.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_laser_tilt/slow.launch
pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_teleop/controller_cartesian_pose.launch
pkg/trunk/robot_descriptions/pr2/pr2_experimental_controllers/constraint_controllers/constraint.launch
pkg/trunk/robot_descriptions/pr2/pr2_experimental_controllers/constraint_controllers/demo_constraint.launch
pkg/trunk/robot_descriptions/pr2/pr2_experimental_controllers/manifest.xml
pkg/trunk/sandbox/3dnav_pr2/launch/actions/left_arm.launch
pkg/trunk/sandbox/3dnav_pr2/launch/actions/right_arm.launch
pkg/trunk/sandbox/3dnav_pr2/launch/perception/laser+stereo-perception.launch
pkg/trunk/sandbox/3dnav_pr2/launch/perception/laser-perception.launch
pkg/trunk/sandbox/annotated_map_builder/config/controllers.xml
pkg/trunk/sandbox/chomp_motion_planner/include/chomp_motion_planner/chomp_cost_server.h
pkg/trunk/sandbox/chomp_motion_planner/manifest.xml
pkg/trunk/sandbox/chomp_motion_planner/src/chomp_cost_server.cpp
pkg/trunk/sandbox/dallas_controller/manifest.xml
pkg/trunk/sandbox/dynamics_estimation/include/dynamics_estimation/dynamics_estimation_node.h
pkg/trunk/sandbox/dynamics_estimation/manifest.xml
pkg/trunk/sandbox/dynamics_estimation/r_arm.launch
pkg/trunk/sandbox/dynamics_estimation/src/dynamics_estimation_node.cpp
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/head_servoing_controller.h
pkg/trunk/sandbox/experimental_controllers/manifest.xml
pkg/trunk/sandbox/experimental_controllers/src/head_servoing_controller.cpp
pkg/trunk/sandbox/hanoi/manifest.xml
pkg/trunk/sandbox/hanoi/src/Hanoi.cpp
pkg/trunk/sandbox/move_arm_tools/manifest.xml
pkg/trunk/sandbox/person_data/config/controllers.xml
pkg/trunk/sandbox/person_data/data_collector_components/base_odom.xml
pkg/trunk/sandbox/person_data/data_collector_components/teleop_joystick.launch
pkg/trunk/sandbox/person_follower/config/controllers.xml
pkg/trunk/sandbox/pr2_gripper_controller/launch/gripper_cal.launch
pkg/trunk/sandbox/pr2_gripper_controller/launch/gripper_controller.launch
pkg/trunk/sandbox/pr2_gripper_controller/manifest.xml
pkg/trunk/sandbox/pr2_ik_with_collision/manifest.xml
pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/manifest.xml
pkg/trunk/sandbox/robot_voxelizer/include/robot_voxelizer/robot_voxelizer.h
pkg/trunk/sandbox/robot_voxelizer/manifest.xml
pkg/trunk/sandbox/robot_voxelizer/src/robot_voxelizer.cpp
pkg/trunk/sandbox/switch_controller_translator/manifest.xml
pkg/trunk/sandbox/switch_controller_translator/src/switch_controller_translator.cpp
pkg/trunk/sandbox/teleop_anti_collision/launch/anti_collision_position/base_odom_teleop.xml
pkg/trunk/sandbox/teleop_anti_collision/launch/anti_collision_velocity/anti_collision_velocity_base_odom_teleop.xml
pkg/trunk/sandbox/teleop_anti_collision/launch/base_odom_teleop.xml
pkg/trunk/sandbox/teleop_anti_collision/manifest.xml
pkg/trunk/sandbox/teleop_anti_collision/src/teleop_goal_projection.cpp
pkg/trunk/sandbox/texas/drive.launch
pkg/trunk/sandbox/texas/drive_base.launch
pkg/trunk/sandbox/texas/drive_base_joy.launch
pkg/trunk/sandbox/texas/manifest.xml
pkg/trunk/sandbox/texas/texas.launch
pkg/trunk/sandbox/trajectory_controllers/manifest.xml
pkg/trunk/stacks/calibration/joint_states_settler/include/joint_states_settler/deflated_joint_states.h
pkg/trunk/stacks/calibration/joint_states_settler/include/joint_states_settler/joint_states_deflater.h
pkg/trunk/stacks/calibration/joint_states_settler/include/joint_states_settler/joint_states_settler.h
pkg/trunk/stacks/calibration/joint_states_settler/manifest.xml
pkg/trunk/stacks/calibration/joint_states_settler/src/joint_states_deflater.cpp
pkg/trunk/stacks/calibration/joint_states_settler/src/joint_states_settler.cpp
pkg/trunk/stacks/calibration/joint_states_settler/src/joint_states_settler_node.cpp
pkg/trunk/stacks/calibration/joint_states_settler/test/joint_states_deflater_unittest.cpp
pkg/trunk/stacks/calibration/joint_states_settler/test/joint_states_settler_unittest.cpp
pkg/trunk/stacks/laser_pipeline/dense_laser_assembler/include/dense_laser_assembler/dense_laser_msg_filter.h
pkg/trunk/stacks/laser_pipeline/dense_laser_assembler/include/dense_laser_assembler/joint_pv_msg_filter.h
pkg/trunk/stacks/laser_pipeline/dense_laser_assembler/manifest.xml
pkg/trunk/stacks/laser_pipeline/dense_laser_assembler/src/dense_laser_snapshotter.cpp
pkg/trunk/stacks/pr2/pr2_alpha/experimental_base_controller.launch
pkg/trunk/stacks/pr2/pr2_alpha/pr2_base_controller.launch
pkg/trunk/stacks/pr2/pr2_alpha/pr2_odometry.launch
pkg/trunk/stacks/pr2/pr2_alpha/pre.launch
pkg/trunk/stacks/pr2/pr2_alpha/prf.launch
pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
pkg/trunk/stacks/pr2/pr2_alpha/teleop_base_spaceball.launch
pkg/trunk/stacks/pr2/pr2_alpha/teleop_controllers.launch
pkg/trunk/stacks/pr2/pr2_alpha/tilt_laser.launch
pkg/trunk/stacks/pr2/pr2_alpha/wheel_odometry_calibrate.launch
pkg/trunk/stacks/pr2/pr2_default_controllers/head_position_controller.launch
pkg/trunk/stacks/pr2/pr2_default_controllers/manifest.xml
pkg/trunk/stacks/pr2/pr2_default_controllers/pr2_base_controller_odom.launch
pkg/trunk/stacks/pr2/pr2_etherCAT/manifest.xml
pkg/trunk/stacks/pr2_common/pr2_msgs/manifest.xml
pkg/trunk/stacks/pr2_ethercat_drivers/ethercat_hardware/manifest.xml
pkg/trunk/stacks/pr2_mechanism/pr2_controller_interface/CMakeLists.txt
pkg/trunk/stacks/pr2_mechanism/pr2_controller_interface/manifest.xml
pkg/trunk/stacks/pr2_mechanism/pr2_hardware_interface/CMakeLists.txt
pkg/trunk/stacks/pr2_mechanism/pr2_hardware_interface/include/hardware_interface/hardware_interface.h
pkg/trunk/stacks/pr2_mechanism/pr2_hardware_interface/manifest.xml
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/CMakeLists.txt
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/include/mechanism_control/action_mechanism_control.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/include/mechanism_control/mechanism_control.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/include/mechanism_control/recorder.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/manifest.xml
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/scripts/mech.py
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/scripts/spawner.py
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/src/action_mechanism_control.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/src/mechanism_control/mechanism.py
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/src/mechanism_control.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/src/recorder.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/test/ms_publisher_test.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/test/test-mechanism-state-cpp.xml
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/test/test-mechanism-state-py.xml
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/CMakeLists.txt
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/mechanism_model/robot.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/manifest.xml
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/robot.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_msgs/CMakeLists.txt
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_msgs/manifest.xml
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_msgs/msg/JointStates.msg
pkg/trunk/stacks/pr2_simulator/gazebo_plugin/manifest.xml
pkg/trunk/stacks/robot_model/robot_state_publisher/include/robot_state_publisher/joint_state_listener.h
pkg/trunk/stacks/robot_model/robot_state_publisher/manifest.xml
pkg/trunk/stacks/robot_model/robot_state_publisher/src/joint_state_listener.cpp
pkg/trunk/stacks/robot_model/robot_state_publisher/src/state_publisher.cpp
pkg/trunk/stacks/semantic_mapping/door_handle_detector/launch/controllers.xml
pkg/trunk/stacks/semantic_mapping/door_handle_detector/launch/setup_for_recording.launch
pkg/trunk/stacks/semantic_mapping/door_handle_detector/test/launch/open_door.launch
pkg/trunk/stacks/semantic_mapping/door_handle_detector/test/launch/test_door_handle_detection.launch
pkg/trunk/stacks/trex/trex_pr2/cfg/launch_gazebo.xml
pkg/trunk/stacks/trex/trex_pr2/cfg/launch_gazebo_obstacle.xml
pkg/trunk/stacks/trex/trex_pr2/manifest.xml
pkg/trunk/stacks/trex/trex_pr2_writing_test/launch/controllers.launch
pkg/trunk/stacks/trex/trex_pr2_writing_test/launch/head_cart/controllers.launch
pkg/trunk/stacks/visual_feature_detectors/outlet_detection/launch/outlet_coarse_detection/controllers.launch
pkg/trunk/stacks/visual_feature_detectors/outlet_detection/launch/outlet_coarse_detection/controllers.launch~
Added Paths:
-----------
pkg/trunk/stacks/pr2_mechanism/pr2_controller_interface/
pkg/trunk/stacks/pr2_mechanism/pr2_hardware_interface/
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_msgs/
Removed Paths:
-------------
pkg/trunk/stacks/pr2_mechanism/controller_interface/
pkg/trunk/stacks/pr2_mechanism/hardware_interface/
pkg/trunk/stacks/pr2_mechanism/mechanism_control/
pkg/trunk/stacks/pr2_mechanism/mechanism_model/
pkg/trunk/stacks/pr2_mechanism/mechanism_msgs/
Modified: pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/base_odom_teleop.xml
===================================================================
--- pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/base_odom_teleop.xml 2009-08-28 22:05:37 UTC (rev 23292)
+++ pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/base_odom_teleop.xml 2009-08-28 22:09:09 UTC (rev 23293)
@@ -4,7 +4,7 @@
<include file="$(find pr2_default_controllers)/pr2_base_controller_odom.launch"/>
<rosparam file="$(find pr2_default_controllers)/pr2_joint_velocity_controller.yaml" command="load"/>
-<node pkg="mechanism_control" type="spawner.py" args="torso_lift_velocity_controller" output="screen" />
+<node pkg="pr2_mechanism_control" type="spawner.py" args="torso_lift_velocity_controller" output="screen" />
<node pkg="backup_safetysound" type="backingup.py" machine="four" />
Modified: pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/lasers_and_filters.xml
===================================================================
--- pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/lasers_and_filters.xml 2009-08-28 22:05:37 UTC (rev 23292)
+++ pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/lasers_and_filters.xml 2009-08-28 22:09:09 UTC (rev 23293)
@@ -7,7 +7,7 @@
<node pkg="mux" type="throttle" args="3.0 tilt_scan_filtered tilt_scan_filtered_throttled" />
<node pkg="mux" type="throttle" args="3.0 base_scan_marking base_scan_marking_throttled" />
-<node pkg="mechanism_control" type="spawner.py" args="$(find pr2_experimental_controllers)/laser_tilt/laser_tilt_controller.xml" />
+<node pkg="pr2_mechanism_control" type="spawner.py" args="$(find pr2_experimental_controllers)/laser_tilt/laser_tilt_controller.xml" />
<node pkg="pr2_mechanism_controllers" type="send_laser_traj_cmd_ms2.py" args="laser_tilt_controller" />
<!-- Filter for tilt laser shadowing/veiling -->
Modified: pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/manifest.xml
===================================================================
--- pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/manifest.xml 2009-08-28 22:05:37 UTC (rev 23292)
+++ pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/manifest.xml 2009-08-28 22:09:09 UTC (rev 23293)
@@ -5,7 +5,7 @@
<review status="na" notes=""/>
<url>http://pr.willowgarage.com/wiki</url>
<depend package="amcl"/>
- <depend package="mechanism_control"/>
+ <depend package="pr2_mechanism_control"/>
<depend package="robot_pose_ekf"/>
<depend package="teleop_base"/>
<depend package="semantic_point_annotator"/>
Modified: pkg/trunk/calibration_experimental/joint_calibration_monitor/manifest.xml
===================================================================
--- pkg/trunk/calibration_experimental/joint_calibration_monitor/manifest.xml 2009-08-28 22:05:37 UTC (rev 23292)
+++ pkg/trunk/calibration_experimental/joint_calibration_monitor/manifest.xml 2009-08-28 22:09:09 UTC (rev 23293)
@@ -12,6 +12,6 @@
<depend package="diagnostic_msgs" />
<!-- mechanism -->
- <depend package="mechanism_msgs" />
+ <depend package="pr2_mechanism_msgs" />
</package>
Modified: pkg/trunk/calibration_experimental/kinematic_calibration/demo/controllers.launch
===================================================================
--- pkg/trunk/calibration_experimental/kinematic_calibration/demo/controllers.launch 2009-08-28 22:05:37 UTC (rev 23292)
+++ pkg/trunk/calibration_experimental/kinematic_calibration/demo/controllers.launch 2009-08-28 22:09:09 UTC (rev 23293)
@@ -16,7 +16,7 @@
<param name="right_arm_trajectory_controller/head_pan_joint/goal_reached_threshold" type="double" value="0.1"/>
<param name="right_arm_trajectory_controller/head_tilt_joint/goal_reached_threshold" type="double" value="0.1"/>
- <node pkg="mechanism_control" type="spawner.py" args="$(find kinematic_calibration)/demo/arm_head_traj_controller.xml" output="screen"/>
+ <node pkg="pr2_mechanism_control" type="spawner.py" args="$(find kinematic_calibration)/demo/arm_head_traj_controller.xml" output="screen"/>
<!-- Teleop Base -->
<!-- <include file="$(find pr2_alpha)/teleop_joystick.launch" /> -->
Modified: pkg/trunk/calibration_experimental/kinematic_calibration/demo/grab_cb_stereo_laser_robot.launch
===================================================================
--- pkg/trunk/calibration_experimental/kinematic_calibration/demo/grab_cb_stereo_laser_robot.launch 2009-08-28 22:05:37 UTC (rev 23292)
+++ pkg/trunk/calibration_experimental/kinematic_calibration/demo/grab_cb_stereo_laser_robot.launch 2009-08-28 22:09:09 UTC (rev 23293)
@@ -29,7 +29,7 @@
<!-- *************** Laser Pipeline **************-->
<!-- Laser Controller -->
- <node pkg="mechanism_control" type="spawner.py"
+ <node pkg="pr2_mechanism_control" type="spawner.py"
args="$(find pr2_experimental_controllers)/laser_tilt/laser_tilt_controller.xml" respawn="false" output="screen"/>
<node pkg="pr2_mechanism_controllers" type="send_periodic_cmd_srv.py"
args="laser_tilt_controller linear 30 .75 .35"
Modified: pkg/trunk/calibration_experimental/kinematic_calibration/manifest.xml
===================================================================
--- pkg/trunk/calibration_experimental/kinematic_calibration/manifest.xml 2009-08-28 22:05:37 UTC (rev 23292)
+++ pkg/trunk/calibration_experimental/kinematic_calibration/manifest.xml 2009-08-28 22:09:09 UTC (rev 23293)
@@ -6,7 +6,7 @@
<depend package="kdl" />
<depend package="phase_space" />
<depend package="geometry_msgs" />
- <depend package="mechanism_msgs" />
+ <depend package="pr2_mechanism_msgs" />
<depend package="mocap_msgs" />
<depend package="std_msgs" />
<depend package="topic_synchronizer" />
Modified: pkg/trunk/calibration_experimental/kinematic_calibration/src/arm_phasespace_grabber.cpp
===================================================================
--- pkg/trunk/calibration_experimental/kinematic_calibration/src/arm_phasespace_grabber.cpp 2009-08-28 22:05:37 UTC (rev 23292)
+++ pkg/trunk/calibration_experimental/kinematic_calibration/src/arm_phasespace_grabber.cpp 2009-08-28 22:09:09 UTC (rev 23293)
@@ -37,7 +37,7 @@
#include "ros/node.h"
#include "ros/node_handle.h"
#include "boost/thread/mutex.hpp"
-#include "mechanism_msgs/MechanismState.h"
+#include "pr2_mechanism_msgs/MechanismState.h"
#include "mocap_msgs/MocapSnapshot.h"
#include "robot_kinematics/robot_kinematics.h"
@@ -279,7 +279,7 @@
{
// Grab mechanism state and put it in a local copy
mech_lock_.lock() ;
- mechanism_msgs::MechanismState mech_state = safe_mech_state_ ;
+ pr2_mechanism_msgs::MechanismState mech_state = safe_mech_state_ ;
mech_lock_.unlock() ;
angles.resize(names.size()) ;
@@ -313,12 +313,12 @@
private:
mocap_msgs::MocapSnapshot snapshot_ ;
- mechanism_msgs::MechanismState mech_state_ ;
+ pr2_mechanism_msgs::MechanismState mech_state_ ;
mocap_msgs::MocapSnapshot safe_snapshot_ ;
int marker_id_ ;
- mechanism_msgs::MechanismState safe_mech_state_ ;
+ pr2_mechanism_msgs::MechanismState safe_mech_state_ ;
boost::mutex mech_lock_ ;
boost::mutex snapshot_lock_ ;
Modified: pkg/trunk/calibration_experimental/kinematic_calibration/src/laser_head_grabber.cpp
===================================================================
--- pkg/trunk/calibration_experimental/kinematic_calibration/src/laser_head_grabber.cpp 2009-08-28 22:05:37 UTC (rev 23292)
+++ pkg/trunk/calibration_experimental/kinematic_calibration/src/laser_head_grabber.cpp 2009-08-28 22:09:09 UTC (rev 23293)
@@ -36,7 +36,7 @@
#include "ros/node.h"
#include "boost/thread/mutex.hpp"
-#include "mechanism_msgs/MechanismState.h"
+#include "pr2_mechanism_msgs/MechanismState.h"
#include "topic_synchronizer/topic_synchronizer.h"
@@ -82,7 +82,7 @@
// Mechanism State
boost::mutex mech_state_lock_ ;
- ADD_MSG(mechanism_msgs::MechanismState, mech_state_) ;
+ ADD_MSG(pr2_mechanism_msgs::MechanismState, mech_state_) ;
// Stereo Messages
boost::mutex stereo_lock_ ;
Modified: pkg/trunk/calibration_experimental/kinematic_calibration/src/sensor_kinematics_grabber.cpp
===================================================================
--- pkg/trunk/calibration_experimental/kinematic_calibration/src/sensor_kinematics_grabber.cpp 2009-08-28 22:05:37 UTC (rev 23292)
+++ pkg/trunk/calibration_experimental/kinematic_calibration/src/sensor_kinematics_grabber.cpp 2009-08-28 22:09:09 UTC (rev 23293)
@@ -36,7 +36,7 @@
#include "ros/node.h"
#include "boost/thread/mutex.hpp"
-#include "mechanism_msgs/MechanismState.h"
+#include "pr2_mechanism_msgs/MechanismState.h"
#include "mocap_msgs/MocapSnapshot.h"
#include "topic_synchronizer/topic_synchronizer.h"
@@ -79,8 +79,8 @@
TopicSynchronizer<SensorKinematicsGrabber> sync_ ;
// Mechanism State Messages
- mechanism_msgs::MechanismState mech_state_ ;
- mechanism_msgs::MechanismState safe_mech_state_ ;
+ pr2_mechanism_msgs::MechanismState mech_state_ ;
+ pr2_mechanism_msgs::MechanismState safe_mech_state_ ;
boost::mutex ...
[truncated message content] |
|
From: <tpr...@us...> - 2009-08-28 22:17:54
|
Revision: 23295
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23295&view=rev
Author: tpratkanis
Date: 2009-08-28 22:17:44 +0000 (Fri, 28 Aug 2009)
Log Message:
-----------
Rip out a bunch of respawn=true and output=screen. The output=screen is making the output of the gazebo test virtually unreadable. The respawn should not be there, it's a sign of bugs.
Modified Paths:
--------------
pkg/trunk/demos/milestone2/milestone2_actions/milestone2.launch
pkg/trunk/highlevel/doors/doors_core/launch/door_actions.xml
pkg/trunk/highlevel/plugs/plugs_core/launch/plugs_actions.launch
pkg/trunk/robot_descriptions/gazebo_worlds/launch/light.launch
pkg/trunk/stacks/navigation/robot_pose_ekf/robot_pose_ekf.launch
pkg/trunk/stacks/semantic_mapping/door_handle_detector/launch/door_handle_detector.xml
pkg/trunk/stacks/visual_feature_detectors/outlet_detection/launch/outlet_coarse_detection/outlet_coarse_detection.launch
pkg/trunk/stacks/visual_feature_detectors/outlet_detection/launch/plug.launch
Modified: pkg/trunk/demos/milestone2/milestone2_actions/milestone2.launch
===================================================================
--- pkg/trunk/demos/milestone2/milestone2_actions/milestone2.launch 2009-08-28 22:12:38 UTC (rev 23294)
+++ pkg/trunk/demos/milestone2/milestone2_actions/milestone2.launch 2009-08-28 22:17:44 UTC (rev 23295)
@@ -27,7 +27,7 @@
<!-- Safety -->
<node machine="four" pkg="safety_core" type="run_detect_plug_on_base" respawn="false" />
- <node machine="four" pkg="safety_core" type="run_tuck_arms" respawn="true" />
+ <node machine="four" pkg="safety_core" type="run_tuck_arms" respawn="false" />
<!-- joystick -->
@@ -47,7 +47,7 @@
<param name="torso_up_button" value="3" type="int" />
<param name="joy_msg_timeout" value="100.0"/>
<param name="deadman_button" value="4" type="int"/>
- <node pkg="teleop_base" type="teleop_base" args="--deadman_no_publish" respawn="true" machine="four"/>
+ <node pkg="teleop_base" type="teleop_base" args="--deadman_no_publish" respawn="false" machine="four"/>
<!-- Robot pose ekf -->
Modified: pkg/trunk/highlevel/doors/doors_core/launch/door_actions.xml
===================================================================
--- pkg/trunk/highlevel/doors/doors_core/launch/door_actions.xml 2009-08-28 22:12:38 UTC (rev 23294)
+++ pkg/trunk/highlevel/doors/doors_core/launch/door_actions.xml 2009-08-28 22:17:44 UTC (rev 23295)
@@ -1,3 +1,3 @@
<launch>
- <node pkg="doors_core" type="action_runner" output="screen" />
+ <node pkg="doors_core" type="action_runner" />
</launch>
Modified: pkg/trunk/highlevel/plugs/plugs_core/launch/plugs_actions.launch
===================================================================
--- pkg/trunk/highlevel/plugs/plugs_core/launch/plugs_actions.launch 2009-08-28 22:12:38 UTC (rev 23294)
+++ pkg/trunk/highlevel/plugs/plugs_core/launch/plugs_actions.launch 2009-08-28 22:17:44 UTC (rev 23295)
@@ -1,10 +1,10 @@
<launch>
- <node pkg="plugs_core" type="run_detect_outlet_fine" output="screen" respawn="true" />
- <node pkg="plugs_core" type="run_detect_outlet_coarse" output="screen" />
- <node pkg="plugs_core" type="run_plugs_untuck_arms" output="screen" />
- <node pkg="plugs_core" type="run_move_and_grasp_plug" output="screen" />
- <node pkg="plugs_core" type="run_localize_plug_in_gripper" output="screen" />
- <node pkg="plugs_core" type="run_plug_in2" output="screen" />
- <node pkg="plugs_core" type="run_unplug" output="screen" />
- <node pkg="plugs_core" type="run_stow_plug" output="screen" />
+ <node pkg="plugs_core" type="run_detect_outlet_fine" />
+ <node pkg="plugs_core" type="run_detect_outlet_coarse" />
+ <node pkg="plugs_core" type="run_plugs_untuck_arms" />
+ <node pkg="plugs_core" type="run_move_and_grasp_plug" />
+ <node pkg="plugs_core" type="run_localize_plug_in_gripper" />
+ <node pkg="plugs_core" type="run_plug_in2" />
+ <node pkg="plugs_core" type="run_unplug" />
+ <node pkg="plugs_core" type="run_stow_plug" />
</launch>
Modified: pkg/trunk/robot_descriptions/gazebo_worlds/launch/light.launch
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_worlds/launch/light.launch 2009-08-28 22:12:38 UTC (rev 23294)
+++ pkg/trunk/robot_descriptions/gazebo_worlds/launch/light.launch 2009-08-28 22:17:44 UTC (rev 23295)
@@ -5,8 +5,8 @@
<param name="light2" textfile="$(find gazebo_worlds)/objects/light2.model" />
<!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
- <node pkg="gazebo_plugin" type="xml2factory" args="light" respawn="false" output="screen" />
- <node pkg="gazebo_plugin" type="xml2factory" args="light2" respawn="false" output="screen" />
+ <node pkg="gazebo_plugin" type="xml2factory" args="light" respawn="false" />
+ <node pkg="gazebo_plugin" type="xml2factory" args="light2" respawn="false" />
</launch>
Modified: pkg/trunk/stacks/navigation/robot_pose_ekf/robot_pose_ekf.launch
===================================================================
--- pkg/trunk/stacks/navigation/robot_pose_ekf/robot_pose_ekf.launch 2009-08-28 22:12:38 UTC (rev 23294)
+++ pkg/trunk/stacks/navigation/robot_pose_ekf/robot_pose_ekf.launch 2009-08-28 22:17:44 UTC (rev 23295)
@@ -1,6 +1,6 @@
<launch>
-<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen">
+<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
<param name="freq" value="30.0"/>
<param name="sensor_timeout" value="1.0"/>
<param name="publish_tf" value="true"/>
Modified: pkg/trunk/stacks/semantic_mapping/door_handle_detector/launch/door_handle_detector.xml
===================================================================
--- pkg/trunk/stacks/semantic_mapping/door_handle_detector/launch/door_handle_detector.xml 2009-08-28 22:12:38 UTC (rev 23294)
+++ pkg/trunk/stacks/semantic_mapping/door_handle_detector/launch/door_handle_detector.xml 2009-08-28 22:17:44 UTC (rev 23295)
@@ -4,15 +4,15 @@
<include file="$(find door_handle_detector)/launch/door_handle_detector_params.xml"/>
<!-- Handle detector Camera -->
- <node pkg="door_handle_detector" name="handle_detector_vision" type="handle_detector_vision" respawn="false" output="screen">
+ <node pkg="door_handle_detector" name="handle_detector_vision" type="handle_detector_vision" >
<remap from="stereo" to="narrow_stereo"/>
</node>
<!-- Handle detector Laser -->
- <node pkg="door_handle_detector" type="handle_detector_laser" name="handle_detector_laser" respawn="true" output="screen" />
+ <node pkg="door_handle_detector" type="handle_detector_laser" name="handle_detector_laser" />
<!-- Door detector -->
- <node pkg="door_handle_detector" type="doors_detector_laser" name="doors_detector_laser" respawn="true" output="screen"/>
+ <node pkg="door_handle_detector" type="doors_detector_laser" name="doors_detector_laser" />
</launch>
Modified: pkg/trunk/stacks/visual_feature_detectors/outlet_detection/launch/outlet_coarse_detection/outlet_coarse_detection.launch
===================================================================
--- pkg/trunk/stacks/visual_feature_detectors/outlet_detection/launch/outlet_coarse_detection/outlet_coarse_detection.launch 2009-08-28 22:12:38 UTC (rev 23294)
+++ pkg/trunk/stacks/visual_feature_detectors/outlet_detection/launch/outlet_coarse_detection/outlet_coarse_detection.launch 2009-08-28 22:17:44 UTC (rev 23295)
@@ -1,7 +1,7 @@
<launch>
- <node pkg="outlet_detection" name="outlet_spotting" type="outlet_spotting2" respawn="true" output="screen">
+ <node pkg="outlet_detection" name="outlet_spotting" type="outlet_spotting2">
<remap from="stereo" to="narrow_stereo" />
<param name="display" type="bool" value="False"/>
<param name="save_patches" type="bool" value="False"/>
Modified: pkg/trunk/stacks/visual_feature_detectors/outlet_detection/launch/plug.launch
===================================================================
--- pkg/trunk/stacks/visual_feature_detectors/outlet_detection/launch/plug.launch 2009-08-28 22:12:38 UTC (rev 23294)
+++ pkg/trunk/stacks/visual_feature_detectors/outlet_detection/launch/plug.launch 2009-08-28 22:17:44 UTC (rev 23295)
@@ -24,5 +24,5 @@
<param name="board_height" type="int" value="9"/>
-->
</group>
- <node pkg="outlet_detection" type="plug_node" respawn="false" output="screen"/>
+ <node pkg="outlet_detection" type="plug_node" respawn="false"/>
</launch>
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
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From: <bla...@us...> - 2009-08-28 22:57:37
|
Revision: 23301
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23301&view=rev
Author: blaisegassend
Date: 2009-08-28 22:57:28 +0000 (Fri, 28 Aug 2009)
Log Message:
-----------
Renamed forearm_cam to wge100_camera. Still a few broken things that will be fixed shortly.
Modified Paths:
--------------
pkg/trunk/drivers/cam/camera_focus/manifest.xml
pkg/trunk/drivers/cam/camera_trigger_test/four_cams.launch
pkg/trunk/drivers/cam/camera_trigger_test/manifest.xml
pkg/trunk/drivers/cam/camera_trigger_test/scripts/mode1plot.gnuplot
pkg/trunk/drivers/cam/camera_trigger_test/scripts/runmode0.sh
pkg/trunk/drivers/cam/camera_trigger_test/testmode0.launch
pkg/trunk/drivers/cam/camera_trigger_test/testmode1.launch
pkg/trunk/pr2/qualification/CMakeLists.txt
pkg/trunk/pr2/qualification/config/configs.xml
pkg/trunk/pr2/qualification/manifest.xml
pkg/trunk/pr2/qualification/tests/tests.xml
pkg/trunk/pr2/qualification/tests/wge100_camera_test/ethercat.launch
pkg/trunk/pr2/qualification/tests/wge100_camera_test/led_flash_test.launch
pkg/trunk/pr2/qualification/tests/wge100_camera_test/load_firmware.py
pkg/trunk/pr2/qualification/tests/wge100_camera_test/load_firmware_ether.py
pkg/trunk/pr2/qualification/tests/wge100_camera_test/program_firmware.launch
pkg/trunk/pr2/qualification/tests/wge100_camera_test/program_firmware_ether.launch
pkg/trunk/pr2/qualification/tests/wge100_camera_test/program_firmware_ram.launch
pkg/trunk/pr2/qualification/tests/wge100_camera_test/self_test_triggered.launch
pkg/trunk/pr2/qualification/tests/wge100_camera_test/self_test_untriggered.launch
pkg/trunk/stacks/camera_drivers/camera_launch_files/manifest.xml
pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml
pkg/trunk/stacks/pr2/pr2_alpha/pre.launch
pkg/trunk/stacks/pr2/pr2_alpha/prf.launch
pkg/trunk/stacks/pr2/pr2_alpha/prf_forearm_cam.launch
pkg/trunk/stacks/pr2/pr2_alpha/prf_forearm_cam_config.launch
pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
pkg/trunk/stacks/pr2/pr2_alpha/prg_forearm_cam.launch
Added Paths:
-----------
pkg/trunk/drivers/cam/camera_focus/wge100_camera_focus.launch
pkg/trunk/pr2/qualification/config/wge100_camera/
pkg/trunk/pr2/qualification/config/wge100_camera/set_name.py
pkg/trunk/pr2/qualification/config/wge100_camera/wge100_camera_board_config.py
pkg/trunk/pr2/qualification/tests/wge100_camera_test/
pkg/trunk/stacks/camera_drivers/camera_launch_files/wge100_camera_color.launch
pkg/trunk/stacks/camera_drivers/camera_launch_files/wge100_camera_view.launch
pkg/trunk/stacks/camera_drivers/wge100_camera/
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/wge100_camera_0x0B204113.mcs
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/wge100_camera_0x0B205114.mcs
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/wge100_camera_0x0B205119.bit
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/wge100_camera_0x0B205119.mcs
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/wge100_camera_0x0C300113.mcs
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/wge100_camera_0x0C400118.mcs
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/wge100_camera_0x0C400119.mcs
pkg/trunk/stacks/camera_drivers/wge100_camera/include/wge100_camera/
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera_demo.launch
pkg/trunk/vision/vision_tests/wge100_camera_hcb.launch
Removed Paths:
-------------
pkg/trunk/drivers/cam/camera_focus/forearm_cam_focus.launch
pkg/trunk/pr2/qualification/config/forearm_cam/
pkg/trunk/pr2/qualification/config/wge100_camera/forearm_cam_board_config.py
pkg/trunk/pr2/qualification/config/wge100_camera/set_name.py
pkg/trunk/pr2/qualification/tests/forearm_cam_test/
pkg/trunk/stacks/camera_drivers/camera_launch_files/forearm_cam_color.launch
pkg/trunk/stacks/camera_drivers/camera_launch_files/forearm_cam_view.launch
pkg/trunk/stacks/camera_drivers/forearm_cam/
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/forearm_cam_0x0B204113.mcs
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/forearm_cam_0x0B205114.mcs
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/forearm_cam_0x0B205119.bit
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/forearm_cam_0x0B205119.mcs
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/forearm_cam_0x0C300113.mcs
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/forearm_cam_0x0C400118.mcs
pkg/trunk/stacks/camera_drivers/wge100_camera/firmwares/forearm_cam_0x0C400119.mcs
pkg/trunk/stacks/camera_drivers/wge100_camera/forearm_cam_demo.launch
pkg/trunk/stacks/camera_drivers/wge100_camera/include/forearm_cam/
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/CMakeLists.txt
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/EXAMPLE_LAUNCH_FILES
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/Makefile
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/cfg/
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/dox/
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/firmwares/
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/forearm_cam_demo.launch
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/include/
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/manifest.xml
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/src/
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/srv/
pkg/trunk/stacks/camera_drivers/wge100_camera/wge100_camera/test/
pkg/trunk/vision/vision_tests/forearm_cam_hcb.launch
Deleted: pkg/trunk/drivers/cam/camera_focus/forearm_cam_focus.launch
===================================================================
--- pkg/trunk/drivers/cam/camera_focus/forearm_cam_focus.launch 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/drivers/cam/camera_focus/forearm_cam_focus.launch 2009-08-28 22:57:28 UTC (rev 23301)
@@ -1,31 +0,0 @@
-<launch>
- <group ns="forearm">
- <param name="if_name" type="str" value="eth2"/>
- <param name="ip_address" type="str" value="192.168.202.2"/>
- <param name="serial_number" type="int" value="-1"/>
- <param name="video_mode" type="str" value="640x480x12.5"/>
- <!--param name="frame_id" type="str" value="???"/-->
- <param name="do_colorize" type="bool" value="True"/>
- <param name="do_rectify" type="bool" value="True"/>
- <param name="ext_trigger" type="bool" value="False"/>
- <param name="trigger_controller" type="string" value=""/>
- <param name="gain" type="int" value="64" />
- <param name="exposure" type="double" value="0.020" />
- </group>
- <node name="forearm" pkg="forearm_cam" type="forearm_node" respawn="false" output="screen"/>
- <node name="forearm_focus" pkg="camera_focus" type="focus" respawn="false" output="screen">
- <remap from="image" to="forearm/image_raw"/>
- <param name="startx" type="int" value="160"/>
- <param name="starty" type="int" value="120"/>
- <param name="endx" type="int" value="420"/>
- <param name="endy" type="int" value="280"/>
- </node>
- <node name="forearm_proc" pkg="stereo_image_proc" type="imageproc" respawn="false" output="screen">
- <remap from="camera" to="forearm"/>
- </node>
- <node pkg="image_view" type="image_view" respawn="false" name="toto">
- <param name="autosize" type="bool" value="True"/>
- <param name="window_name" type="str" value="'Forearm camera'"/>
- <remap from="image" to="/forearm/image_color"/>
- </node>
-</launch>
Modified: pkg/trunk/drivers/cam/camera_focus/manifest.xml
===================================================================
--- pkg/trunk/drivers/cam/camera_focus/manifest.xml 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/drivers/cam/camera_focus/manifest.xml 2009-08-28 22:57:28 UTC (rev 23301)
@@ -7,7 +7,7 @@
<license>BSD</license>
<review status="unreviewed" notes=""/>
<url>http://pr.willowgarage.com/wiki/camera_focus</url>
- <depend package="forearm_cam"/>
+ <depend package="wge100_camera"/>
<depend package="dcam"/>
<rosdepend name="gnuplot"/>
</package>
Copied: pkg/trunk/drivers/cam/camera_focus/wge100_camera_focus.launch (from rev 23277, pkg/trunk/drivers/cam/camera_focus/forearm_cam_focus.launch)
===================================================================
--- pkg/trunk/drivers/cam/camera_focus/wge100_camera_focus.launch (rev 0)
+++ pkg/trunk/drivers/cam/camera_focus/wge100_camera_focus.launch 2009-08-28 22:57:28 UTC (rev 23301)
@@ -0,0 +1,31 @@
+<launch>
+ <group ns="forearm">
+ <param name="if_name" type="str" value="eth2"/>
+ <param name="ip_address" type="str" value="192.168.202.2"/>
+ <param name="serial_number" type="int" value="-1"/>
+ <param name="video_mode" type="str" value="640x480x12.5"/>
+ <!--param name="frame_id" type="str" value="???"/-->
+ <param name="do_colorize" type="bool" value="True"/>
+ <param name="do_rectify" type="bool" value="True"/>
+ <param name="ext_trigger" type="bool" value="False"/>
+ <param name="trigger_controller" type="string" value=""/>
+ <param name="gain" type="int" value="64" />
+ <param name="exposure" type="double" value="0.020" />
+ </group>
+ <node name="forearm" pkg="wge100_camera" type="forearm_node" respawn="false" output="screen"/>
+ <node name="forearm_focus" pkg="camera_focus" type="focus" respawn="false" output="screen">
+ <remap from="image" to="forearm/image_raw"/>
+ <param name="startx" type="int" value="160"/>
+ <param name="starty" type="int" value="120"/>
+ <param name="endx" type="int" value="420"/>
+ <param name="endy" type="int" value="280"/>
+ </node>
+ <node name="forearm_proc" pkg="stereo_image_proc" type="imageproc" respawn="false" output="screen">
+ <remap from="camera" to="forearm"/>
+ </node>
+ <node pkg="image_view" type="image_view" respawn="false" name="toto">
+ <param name="autosize" type="bool" value="True"/>
+ <param name="window_name" type="str" value="'Forearm camera'"/>
+ <remap from="image" to="/forearm/image_color"/>
+ </node>
+</launch>
Modified: pkg/trunk/drivers/cam/camera_trigger_test/four_cams.launch
===================================================================
--- pkg/trunk/drivers/cam/camera_trigger_test/four_cams.launch 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/drivers/cam/camera_trigger_test/four_cams.launch 2009-08-28 22:57:28 UTC (rev 23301)
@@ -12,7 +12,7 @@
<param name="auto_exposure" type="bool" value="False" />
<param name="exposure" type="double" value="0.0001" />
</group>
- <node name="fc1" pkg="forearm_cam" type="forearm_node" respawn="false" output="screen"/>
+ <node name="fc1" pkg="wge100_camera" type="forearm_node" respawn="false" output="screen"/>
<group ns="fc2">
<param name="camera_url" type="str" value="serial://13"/>
@@ -27,7 +27,7 @@
<param name="auto_exposure" type="bool" value="False" />
<param name="exposure" type="double" value="0.0001" />
</group>
- <node name="fc2" pkg="forearm_cam" type="forearm_node" respawn="false" output="screen"/>
+ <node name="fc2" pkg="wge100_camera" type="forearm_node" respawn="false" output="screen"/>
<group ns="fc3">
<param name="camera_url" type="str" value="serial://14"/>
@@ -42,7 +42,7 @@
<param name="auto_exposure" type="bool" value="False" />
<param name="exposure" type="double" value="0.0001" />
</group>
- <node name="fc3" pkg="forearm_cam" type="forearm_node" respawn="false" output="screen"/>
+ <node name="fc3" pkg="wge100_camera" type="forearm_node" respawn="false" output="screen"/>
<group ns="fc4">
<param name="camera_url" type="str" value="serial://15"/>
@@ -57,7 +57,7 @@
<param name="auto_exposure" type="bool" value="False" />
<param name="exposure" type="double" value="0.0001" />
</group>
- <node name="fc4" pkg="forearm_cam" type="forearm_node" respawn="false" output="screen"/>
+ <node name="fc4" pkg="wge100_camera" type="forearm_node" respawn="false" output="screen"/>
<!--node name="fp1" pkg="stereo_image_proc" type="imageproc" respawn="false" output="screen">
<remap from="camera" to="fc1"/>
Modified: pkg/trunk/drivers/cam/camera_trigger_test/manifest.xml
===================================================================
--- pkg/trunk/drivers/cam/camera_trigger_test/manifest.xml 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/drivers/cam/camera_trigger_test/manifest.xml 2009-08-28 22:57:28 UTC (rev 23301)
@@ -8,7 +8,7 @@
<depend package="sensor_msgs" />
<depend package="opencv_latest" />
<depend package="diagnostic_updater" />
- <depend package="forearm_cam" />
+ <depend package="wge100_camera" />
<depend package="pr2_etherCAT" />
<depend package="realtime_tools" />
<depend package="robot_mechanism_controllers" />
Modified: pkg/trunk/drivers/cam/camera_trigger_test/scripts/mode1plot.gnuplot
===================================================================
--- pkg/trunk/drivers/cam/camera_trigger_test/scripts/mode1plot.gnuplot 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/drivers/cam/camera_trigger_test/scripts/mode1plot.gnuplot 2009-08-28 22:57:28 UTC (rev 23301)
@@ -1,7 +1,7 @@
#! /usr/bin/gnuplot
set terminal gif
set output "data/mode1out.gif"
-set title "/forearm_cam/image_raw delay"
+set title "/wge100_camera/image_raw delay"
set xlabel "time (s)"
set ylabel "intensity (A.U.)
set y2tics
Modified: pkg/trunk/drivers/cam/camera_trigger_test/scripts/runmode0.sh
===================================================================
--- pkg/trunk/drivers/cam/camera_trigger_test/scripts/runmode0.sh 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/drivers/cam/camera_trigger_test/scripts/runmode0.sh 2009-08-28 22:57:28 UTC (rev 23301)
@@ -28,7 +28,7 @@
<param name="do_colorize" type="bool" value="True"/>
<param name="do_rectify" type="bool" value="False"/>
</group>
- <node name="forearm" pkg="forearm_cam" type="forearm_node" respawn="false" output="screen"/>
+ <node name="forearm" pkg="wge100_camera" type="forearm_node" respawn="false" output="screen"/>
<!--node name="forearm_proc" pkg="stereo_image_proc" type="imageproc" respawn="false" output="screen">
<remap from="camera" to="forearm"/>
</node-->
Modified: pkg/trunk/drivers/cam/camera_trigger_test/testmode0.launch
===================================================================
--- pkg/trunk/drivers/cam/camera_trigger_test/testmode0.launch 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/drivers/cam/camera_trigger_test/testmode0.launch 2009-08-28 22:57:28 UTC (rev 23301)
@@ -13,7 +13,7 @@
<param name="do_colorize" type="bool" value="True"/>
<param name="do_rectify" type="bool" value="False"/>
</group>
- <node name="forearm" pkg="forearm_cam" type="forearm_node" respawn="false" output="screen"/>
+ <node name="forearm" pkg="wge100_camera" type="forearm_node" respawn="false" output="screen"/>
<!--node name="forearm_proc" pkg="stereo_image_proc" type="imageproc" respawn="false" output="screen">
<remap from="camera" to="forearm"/>
</node-->
Modified: pkg/trunk/drivers/cam/camera_trigger_test/testmode1.launch
===================================================================
--- pkg/trunk/drivers/cam/camera_trigger_test/testmode1.launch 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/drivers/cam/camera_trigger_test/testmode1.launch 2009-08-28 22:57:28 UTC (rev 23301)
@@ -13,7 +13,7 @@
<param name="do_colorize" type="bool" value="True"/>
<param name="do_rectify" type="bool" value="False"/>
</group>
- <node name="forearm" pkg="forearm_cam" type="forearm_node" respawn="false" output="screen"/>
+ <node name="forearm" pkg="wge100_camera" type="forearm_node" respawn="false" output="screen"/>
<!--node name="forearm_proc" pkg="stereo_image_proc" type="imageproc" respawn="false" output="screen">
<remap from="camera" to="forearm"/>
</node-->
Modified: pkg/trunk/pr2/qualification/CMakeLists.txt
===================================================================
--- pkg/trunk/pr2/qualification/CMakeLists.txt 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/pr2/qualification/CMakeLists.txt 2009-08-28 22:57:28 UTC (rev 23301)
@@ -4,4 +4,4 @@
genmsg()
gensrv()
-rospack_add_executable(tests/forearm_cam_test/led_flash_test tests/forearm_cam_test/led_flash_test.cpp)
+rospack_add_executable(tests/wge100_camera_test/led_flash_test tests/wge100_camera_test/led_flash_test.cpp)
Modified: pkg/trunk/pr2/qualification/config/configs.xml
===================================================================
--- pkg/trunk/pr2/qualification/config/configs.xml 2009-08-28 22:24:35 UTC (rev 23300)
+++ pkg/trunk/pr2/qualification/config/configs.xml 2009-08-28 22:57:28 UTC (rev 23301)
@@ -64,7 +64,7 @@
file="forearm_cam_l.launch" descrip="Make Into Left Forearm" />
<config serial="6805018"
- file="forearm_cam_set_mac.launch" descrip="Set Serial Camera and MAC (permanent)" />
+ file="wge100_set_mac.launch" descrip="Set Serial Camera and MAC (permanent)" />
</configs>
Property changes on: pkg/trunk/pr2/qualification/config/wge100_camera
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/qual_test_2009_07_22/config/forearm_cam:19449-20939
Deleted: pkg/trunk/pr2/qualification/config/wge100_camera/forearm_cam_board_config.py
===================================================================
--- pkg/trunk/pr2/qualification/config/forearm_cam/forearm_cam_board_config.py 2009-08-28 20:42:19 UTC (rev 23277)
+++ pkg/trunk/pr2/qualification/config/wge100_camera/forearm_cam_board_config.py 2009-08-28 22:57:28 UTC (rev 23301)
@@ -1,114 +0,0 @@
-#!/usr/bin/python
-# 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: Blaise Gassend
-
-import roslib; roslib.load_manifest('qualification')
-import rospy
-from invent_client.invent_client import Invent;
-from forearm_cam.srv import BoardConfig
-import sys
-
-print "WARNING! This script can only be run once per camera."
-print "Make sure you enter the right barcode!"
-print
-print "Enter barcode:"
-barcode = raw_input()
-print "Preparing to configure forearm camera",barcode
-
-rospy.init_node('forearm_config')
-
-# Parse barcode to get serial number.
-if len(barcode) != 12 or not barcode.isdigit():
- print "The item id", barcode, "should be 12 numeric digits."
- exit(-1)
-if not barcode[0:7] in [ "6805018", "6805027" ]:
- print "Part number", barcode[0:7], "is not a forearm camera."
- exit(-1)
-serial = int(barcode[5:12])
-
-if serial >= 1800000 and serial <= 1800015: # First 15 cameras followed a different system
- serial = serial - 1800000
-
-url = "serial://%i"%serial
-
-print "Camera url is:", url
-
-# Get inventory password from qualification
-username = rospy.get_param('/invent/username', None)
-password = rospy.get_param('/invent/password', None)
-
-# Fail if invalid username/password
-i = Invent(username, password)
-if not i.login():
- print "Could not connect to invent."
- exit(-1)
-
-# Was this camera already put on invent with a different serial?
-# Write camera serial number to invent if it is not already there
-try:
- prevserial = i.getItemReferences(barcode)["camera_url"]
- if not prevserial in [ url, '']:
- print "This part was already stored in invent with a different serial '%s'. This should never happen."%prevserial
- exit(-1)
-except KeyError:
- prevserial = ''
- pass
-
-if prevserial != url:
- print "Writing camera_url to invent"
- i.addItemReference(barcode, "camera_url", url)
-else:
- print "camera_url already in invent"
-
-exit(-1)
-
-# Get MAC address from invent.
-i.generateWGMacaddr(barcode, "lan0")
-refs = i.getItemReferences(barcode)
-macstr = refs["lan0"]
-print "Camera MAC is:", macstr
-mac = []
-if len(macstr.rstrip("1234567890abcdefABCDEF")) != 0 or len(macstr) != 12:
- print "The MAC should be 12 hex digits."
- exit(-1)
-for i in range(0, 6):
- mac.append(int(macstr[2*i:2*i+2], 16))
-
-# Wait for service, and call it.
-print "Waiting for board_config service."
-rospy.wait_for_service('board_config', 10)
-board_config = rospy.ServiceProxy('board_config', BoardConfig)
-rslt = board_config(serial, "".join([chr(x) for x in mac]) );
-print "Result is ", rslt.success
Deleted: pkg/trunk/pr2/qualification/config/wge100_camera/set_name.py
===================================================================
--- pkg/trunk/pr2/qualification/config/forearm_cam/set_name.py 2009-08-28 20:42:19 UTC (rev 23277)
+++ pkg/trunk/pr2/qualification/config/wge100_camera/set_name.py 2009-08-28 22:57:28 UTC (rev 23301)
@@ -1,138 +0,0 @@
-#!/usr/bin/env python
-#
-# 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.
-
-import roslib
-roslib.load_manifest('qualification')
-
-import sys
-import rospy
-from std_srvs.srv import *
-from qualification.srv import *
-import qualification.msg
-import std_msgs
-import rospy
-import subprocess
-import os
-import os.path
-import wx
-
-def getparam(name):
- val = rospy.get_param(name, None)
- if val == None:
- print "Parameter %s not set"%name
- exit(-1)
- return val
-
-# Get inventory password from qualification
-username = getparam('/invent/username')
-password = getparam('/invent/password')
-cameraname = getparam('forearm_camera_set_name/camera_name')
-cameraip = getparam('forearm_camera_set_name/camera_ip')
-progip = getparam('forearm_camera_set_name/programming_ip')
-
-# Fail if invalid username/password
-i = Invent(username, password)
-if not i.login():
- print "Could not connect to invent."
- exit(-1)
-
-# Get camera url
-try:
- prevserial = i.getItemReferences(barcode)["camera_url"]
- if prevserial == '':
- raise KeyError
-except KeyError:
- exit(-1)
-
-# Set the camera's name
-retval = system("rosrun forearm_cam set_name '%s'"%(camera_url+"@"+progip, cameraname, cameraip))
-print "Return value:", retval
-exit(-1)
-try:
- iface=rospy.get_param("~cam_interface")
-except:
- iface=None
-
-try:
- impactdir=rospy.get_param("~impactdir")
-except:
- import traceback
- traceback.print_exc()
-#if (len(sys.argv) != 2):
- #print >> sys.stderr, 'must specify impact directory (%i) args given'%len(sys.argv);
- print >> sys.stderr, 'impactdir option must indicate impact project directory';
- r.html_result = "<p>Bad arguments to load_firmware.py.</p>"
- r.text_summary = "Error in test."
- r.result = TestResultRequest.RESULT_HUMAN_REQUIRED
- print "error"
-else:
- os.chdir(impactdir);
- reprogram = True
- if check_programmed(iface):
- app = wx.PySimpleApp()
- ret = wx.MessageBox("The device is already programmed. Skip reprogramming?", "Device Programmed", wx.YES|wx.NO)
- if ret == wx.YES:
- reprogram = False
- if reprogram:
- p = subprocess.Popen(['./startimpact', '-batch', 'load_firmware.cmd'], stderr=subprocess.PIPE)
- impactout = p.communicate()[1]
-
- impactout = impactout.replace('\n','<br>')
-
- if '''INFO:iMPACT - '1': Flash was programmed successfully.''' in impactout:
- r.text_summary = "Firmware download succeeded."
- r.html_result = "<p>Test passed.</p><p>"+impactout+"</p>"
- r.result = TestResultRequest.RESULT_PASS
- print "pass"
- else:
- r.text_summary = "Firmware download failed."
- r.result = TestResultRequest.RESULT_FAIL
- r.html_result = "<p>Test Failed.</p><p>"+impactout+"</p>"
- print "fail"
- print impactout
- else:
- r.html_result = "<p>Firmware was already programmed.</p>"
- r.text_summary = "Firmware already programmed (Pass)."
- r.result = TestResultRequest.RESULT_PASS
- print "pass"
-
-
-result_service = rospy.ServiceProxy('test_result', TestResult)
-
-rospy.sleep(5);
-
-# block until the test_result service is available
-rospy.wait_for_service('test_result')
-result_service.call(r)
-
Copied: pkg/trunk/pr2/qualification/config/wge100_camera/set_name.py (from rev 23290, pkg/trunk/pr2/qualification/config/forearm_cam/set_name.py)
===================================================================
--- pkg/trunk/pr2/qualification/config/wge100_camera/set_name.py (rev 0)
+++ pkg/trunk/pr2/qualification/config/wge100_camera/set_name.py 2009-08-28 22:57:28 UTC (rev 23301)
@@ -0,0 +1,141 @@
+#!/usr/bin/env python
+#
+# 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.
+
+import roslib
+roslib.load_manifest('qualification')
+
+import sys
+import rospy
+from std_srvs.srv import *
+from qualification.srv import *
+import qualification.msg
+import std_msgs
+import rospy
+import subprocess
+import os
+import os.path
+import wx
+
+rospy.init("wge100_camera_set_name")
+
+def getparam(name):
+ val = rospy.get_param(name, None)
+ if val == None:
+ print "Parameter %s not set"%name
+ exit(-1)
+ return val
+
+# Get inventory password from qualification
+username = getparam('/invent/username')
+password = getparam('/invent/password')
+part = getparam('/qualification/serial')
+cameraname = getparam('camera_name')
+cameraip ...
[truncated message content] |
|
From: <stu...@us...> - 2009-08-28 23:24:33
|
Revision: 23303
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23303&view=rev
Author: stuglaser
Date: 2009-08-28 23:24:22 +0000 (Fri, 28 Aug 2009)
Log Message:
-----------
Moved mechanism_controller_test package into sandbox
Added Paths:
-----------
pkg/trunk/sandbox/mechanism_control_test/
pkg/trunk/sandbox/mechanism_control_test/CMakeLists.txt
pkg/trunk/sandbox/mechanism_control_test/Makefile
pkg/trunk/sandbox/mechanism_control_test/include/
pkg/trunk/sandbox/mechanism_control_test/include/mechanism_controller_test/
pkg/trunk/sandbox/mechanism_control_test/include/mechanism_controller_test/null_hardware.h
pkg/trunk/sandbox/mechanism_control_test/manifest.xml
pkg/trunk/sandbox/mechanism_control_test/robot.xml
pkg/trunk/sandbox/mechanism_control_test/src/
pkg/trunk/sandbox/mechanism_control_test/src/mechanism_controller_test.cpp
pkg/trunk/sandbox/mechanism_control_test/src/null_hardware.cpp
Removed Paths:
-------------
pkg/trunk/controllers/mechanism_controller_test/CMakeLists.txt
pkg/trunk/controllers/mechanism_controller_test/Makefile
pkg/trunk/controllers/mechanism_controller_test/include/mechanism_controller_test/null_hardware.h
pkg/trunk/controllers/mechanism_controller_test/manifest.xml
pkg/trunk/controllers/mechanism_controller_test/robot.xml
pkg/trunk/controllers/mechanism_controller_test/src/mechanism_controller_test.cpp
pkg/trunk/controllers/mechanism_controller_test/src/null_hardware.cpp
Deleted: pkg/trunk/controllers/mechanism_controller_test/CMakeLists.txt
===================================================================
--- pkg/trunk/controllers/mechanism_controller_test/CMakeLists.txt 2009-08-28 23:14:21 UTC (rev 23302)
+++ pkg/trunk/controllers/mechanism_controller_test/CMakeLists.txt 2009-08-28 23:24:22 UTC (rev 23303)
@@ -1,8 +0,0 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-set(ROS_BUILD_TYPE Debug)
-rospack(mechanism_controller_test)
-
-rospack_add_boost_directories()
-
-rospack_add_executable(bin/mechanism_controller_test src/mechanism_controller_test.cpp src/null_hardware.cpp)
Deleted: pkg/trunk/controllers/mechanism_controller_test/Makefile
===================================================================
--- pkg/trunk/controllers/mechanism_controller_test/Makefile 2009-08-28 23:14:21 UTC (rev 23302)
+++ pkg/trunk/controllers/mechanism_controller_test/Makefile 2009-08-28 23:24:22 UTC (rev 23303)
@@ -1 +0,0 @@
-include $(shell rospack find mk)/cmake.mk
Deleted: pkg/trunk/controllers/mechanism_controller_test/include/mechanism_controller_test/null_hardware.h
===================================================================
--- pkg/trunk/controllers/mechanism_controller_test/include/mechanism_controller_test/null_hardware.h 2009-08-28 23:14:21 UTC (rev 23302)
+++ pkg/trunk/controllers/mechanism_controller_test/include/mechanism_controller_test/null_hardware.h 2009-08-28 23:24:22 UTC (rev 23303)
@@ -1,29 +0,0 @@
-#ifndef NULL_HARDWARE_H
-#define NULL_HARDWARE_H
-
-#include <hardware_interface/hardware_interface.h>
-#include <tinyxml/tinyxml.h>
-
-class NullHardware
-{
-public:
- /*!
- * \brief Constructor
- */
- NullHardware();
-
- /*!
- * \brief Destructor
- */
- ~NullHardware();
-
- void update();
-
- void initXml(TiXmlElement *config);
-
- HardwareInterface *hw_;
-
-private:
-};
-
-#endif
Deleted: pkg/trunk/controllers/mechanism_controller_test/manifest.xml
===================================================================
--- pkg/trunk/controllers/mechanism_controller_test/manifest.xml 2009-08-28 23:14:21 UTC (rev 23302)
+++ pkg/trunk/controllers/mechanism_controller_test/manifest.xml 2009-08-28 23:24:22 UTC (rev 23303)
@@ -1,20 +0,0 @@
-<package>
- <description brief='PR2 Controller Test Harness'>
- Test harness for profiling and debugging controllers from the software perspective without hardware.
- </description>
- <author>Eric Berger</author>
- <license>BSD</license>
- <review status="unreviewed" notes=""/>
- <depend package="roscpp" />
- <depend package="pr2_hardware_interface" />
- <depend package="pr2_mechanism_control" />
-
- <!-- The controllers packages for testing -->
- <!--<depend package="robot_mechanism_controllers" />-->
-
- <url>http://pr.willowgarage.com</url>
- <repository>http://pr.willowgarage.com/repos</repository>
- <export>
- <cpp cflags='-I${prefix}/include'/>
- </export>
-</package>
Deleted: pkg/trunk/controllers/mechanism_controller_test/robot.xml
===================================================================
--- pkg/trunk/controllers/mechanism_controller_test/robot.xml 2009-08-28 23:14:21 UTC (rev 23302)
+++ pkg/trunk/controllers/mechanism_controller_test/robot.xml 2009-08-28 23:24:22 UTC (rev 23303)
@@ -1,3265 +0,0 @@
-<?xml version="1.0" ?><robot name="pr2">
-
- <!-- declare the path where all models/textures/materials are stored -->
- <resource location="/u/berger/ros/ros-pkg/robot_descriptions/pr2/pr2_defs/meshes"/>
-
-
-
-
-
-
-
- <map flag="gazebo" name="sensor">
- <verbatim key="mechanism_control_simulation">
- <!-- PR2_ACTARRAY -->
- <controller:gazebo_mechanism_control name="gazebo_mechanism_control" plugin="libgazebo_mechanism_control.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <interface:audio name="gazebo_mechanism_control_dummy_iface"/>
- </controller:gazebo_mechanism_control>
-
- <!-- battery controls -->
- <controller:gazebo_battery name="gazebo_battery_controller" plugin="libgazebo_battery.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1.0</updateRate>
- <timeout>5</timeout>
- <default_consumption_rate>-10.0</default_consumption_rate> <!-- -5 is the magic number, need to be smaller than that CM -->
- <diagnostic_rate>1.0</diagnostic_rate>
- <battery_state_rate>10.0</battery_state_rate> <!-- does nothing for now-->
- <full_charge_energy>1200000.0</full_charge_energy>
- <diagnosticTopicName>diagnostic</diagnosticTopicName>
- <stateTopicName>battery_state</stateTopicName>
- <selfTestServiceName>self_test</selfTestServiceName>
- <interface:audio name="battery_dummy_interface"/>
- </controller:gazebo_battery>
-
- <controller:ros_time name="ros_time" plugin="libros_time.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <interface:audio name="dummy_ros_time_iface_should_not_be_here"/>
- </controller:ros_time>
-
- </verbatim>
-</map>
-
-
- <joint name="base_joint" type="planar"/><link name="base_link">
- <parent name="world"/>
- <origin rpy="0 0 0" xyz="0 0 0.051"/>
- <joint name="base_joint"/>
-
- <inertial>
- <mass value="70.750964"/>
- <com xyz="0 0 0"/>
- <inertia ixx="5.652232699207" ixy="-0.009719934438" ixz="1.293988226423" iyy="5.669473158652" iyz="-0.007379583694" izz="3.683196351726"/>
- </inertial>
-
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <elem key="material" value="Gazebo/Green"/>
- </map>
- <geometry name="base_visual">
- <mesh filename="base"/>
- </geometry>
- </visual>
-
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.13"/>
- <geometry name="base_collision">
- <box size="0.65 0.65 0.26"/>
- </geometry>
- </collision>
- <map flag="gazebo" name="bumper_sensor">
- <verbatim key="sensor_base_bumper">
- <sensor:contact name="base_contact_sensor">
- <geom>base_collision</geom>
- <updateRate>100.0</updateRate>
- <controller:ros_bumper name="base_ros_bumper_controller" plugin="libros_bumper.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>100.0</updateRate>
- <bumperTopicName>base_bumper</bumperTopicName>
- <interface:bumper name="base_bumper_iface"/>
- </controller:ros_bumper>
- </sensor:contact>
- </verbatim>
- </map>
- </link><joint name="base_laser_joint" type="fixed">
- <axis xyz="0 1 0"/>
- <anchor xyz="0 0 0"/>
- </joint><sensor name="base_laser" type="laser">
- <calibration filename="calib_filename"/>
- <parent name="base_link"/>
- <origin rpy="0 0 0" xyz="0.275 0 0.132"/>
- <joint name="base_laser_joint"/>
- <inertial>
- <mass value="1.0"/>
- <com xyz="0 0 0"/>
- <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
- </inertial>
-
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0.12"/>
- <map flag="gazebo" name="gazebo_material">
- <elem key="material" value="Gazebo/PioneerBody"/>
- </map>
- <geometry name="base_laser_visual">
- <mesh scale="0.001 0.001 0.001"/>
- </geometry>
- </visual>
-
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.12"/>
- <geometry name="base_laser_collision">
- <box size=".001 .001 .001"/>
- </geometry>
- </collision>
-
- <map flag="gazebo" name="sensor">
- <verbatim key="sensor_base_laser_ray">
- <sensor:ray name="base_laser">
- <rayCount>640</rayCount>
- <rangeCount>640</rangeCount>
- <laserCount>1</laserCount>
- <origin>0.0 0.0 0.17</origin> <!-- FIXME: for verbatim, adjust this number according to base_laser_center_box_center_offset_z -->
- <displayRays>false</displayRays>
-
- <minAngle>-100</minAngle> <!-- scans own arms if -135~+135 -->
- <maxAngle>100</maxAngle>
-
- <minRange>0.05</minRange>
- <maxRange>10.0</maxRange>
- <updateRate>20.0</updateRate>
- <controller:ros_laser name="ros_base_laser_controller" plugin="libros_laser.so">
- <gaussianNoise>0.005</gaussianNoise>
- <alwaysOn>true</alwaysOn>
- <updateRate>20.0</updateRate>
- <topicName>base_scan</topicName>
- <frameName>base_laser</frameName>
- <interface:laser name="ros_base_laser_iface"/>
- </controller:ros_laser>
- </sensor:ray>
- </verbatim>
- </map>
- </sensor><joint name="fl_caster_rotation_joint" type="revolute">
- <axis xyz="0 0 1"/>
- <anchor xyz="0 0 0"/>
- <limit effort="100" k_velocity="10" velocity="100"/>
- <calibration values="1.5 -1"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint><link name="fl_caster_rotation_link">
- <parent name="base_link"/>
- <origin rpy="0 0 0" xyz="0.2225 0.2225 0.0282"/>
- <joint name="fl_caster_rotation_joint"/>
-
- <inertial>
- <mass value="3.473082"/>
- <com xyz="0 0 0"/>
- <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
- </inertial>
-
- <visual>
- <origin rpy="0 0 0 " xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <elem key="material" value="Gazebo/Green"/>
- </map>
- <geometry name="fl_caster_rotation_visual">
- <mesh filename="caster" scale="1 1 1"/>
- </geometry>
- </visual>
-
- <collision>
- <origin rpy="0.0 0.0 0.0 " xyz="0 0 0.07"/>
- <geometry name="fl_caster_rotation_collision">
- <box size="0.192 0.164 0.013"/>
- </geometry>
- </collision>
- </link><transmission name="fl_caster_rotation_trans" type="SimpleTransmission">
- <actuator name="fl_caster_rotation_motor"/>
- <joint name="fl_caster_rotation_joint"/>
- <mechanicalReduction>-75.05</mechanicalReduction>
- </transmission><joint name="fl_caster_l_wheel_joint" type="revolute">
- <axis xyz="0 1 0"/>
- <anchor xyz="0 0 0"/>
- <limit effort="100" k_velocity="10" velocity="100"/>
- <calibration values="1.5 -1"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint><link name="fl_caster_l_wheel_link">
- <parent name="fl_caster_rotation_link"/>
- <joint name="fl_caster_l_wheel_joint"/>
- <origin rpy="0 0 0" xyz="0 0.049 0"/>
- <inertial>
- <mass value="0.44036"/> <!-- check jmh 20081205 -->
- <com xyz=" 0 0 0 "/>
- <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <!-- TODO should be different for left and right wheel-->
- <elem key="material" value="PR2/fl_caster_l_wheel_link"/>
- </map>
- <geometry name="fl_caster_l_wheel_visual">
- <mesh filename="wheel"/>
- </geometry>
-
- </visual>
- <collision>
- <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
- <geometry name="fl_caster_l_wheel_collision">
- <cylinder length="0.03" radius="0.079"/>
- </geometry>
- <map flag="gazebo" name="friction_coefficients">
- <elem key="mu1" value="50.0"/>
- <elem key="mu2" value="50.0"/>
- <elem key="kp" value="1000000.0"/>
- <elem key="kd" value="1.0"/>
- </map>
- </collision>
- <map flag="gazebo" name="fl_caster_l_wheel_sensor">
- <verbatim key="fl_caster_l_wheel_bumper_sensor">
- <sensor:contact name="fl_caster_l_wheel_contact_sensor">
- <geom>fl_caster_l_wheel_collision</geom>
- <updateRate>1000.0</updateRate>
- <controller:ros_bumper name="fl_caster_l_wheel_ros_bumper_controller" plugin="libros_bumper.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <bumperTopicName>fl_caster_l_wheel_bumper</bumperTopicName>
- <interface:bumper name="fl_caster_l_wheel_ros_bumper_iface"/>
- </controller:ros_bumper>
- </sensor:contact>
- </verbatim>
- </map>
- </link><transmission name="fl_caster_l_wheel_trans" type="SimpleTransmission">
- <actuator name="fl_caster_l_wheel_motor"/>
- <joint name="fl_caster_l_wheel_joint"/>
- <mechanicalReduction>75.05</mechanicalReduction>
- </transmission><joint name="fl_caster_r_wheel_joint" type="revolute">
- <axis xyz="0 1 0"/>
- <anchor xyz="0 0 0"/>
- <limit effort="100" k_velocity="10" velocity="100"/>
- <calibration values="1.5 -1"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint><link name="fl_caster_r_wheel_link">
- <parent name="fl_caster_rotation_link"/>
- <joint name="fl_caster_r_wheel_joint"/>
- <origin rpy="0 0 0" xyz="0 -0.049 0"/>
- <inertial>
- <mass value="0.44036"/> <!-- check jmh 20081205 -->
- <com xyz=" 0 0 0 "/>
- <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <!-- TODO should be different for left and right wheel-->
- <elem key="material" value="PR2/fl_caster_r_wheel_link"/>
- </map>
- <geometry name="fl_caster_r_wheel_visual">
- <mesh filename="wheel"/>
- </geometry>
-
- </visual>
- <collision>
- <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
- <geometry name="fl_caster_r_wheel_collision">
- <cylinder length="0.03" radius="0.079"/>
- </geometry>
- <map flag="gazebo" name="friction_coefficients">
- <elem key="mu1" value="50.0"/>
- <elem key="mu2" value="50.0"/>
- <elem key="kp" value="1000000.0"/>
- <elem key="kd" value="1.0"/>
- </map>
- </collision>
- <map flag="gazebo" name="fl_caster_r_wheel_sensor">
- <verbatim key="fl_caster_r_wheel_bumper_sensor">
- <sensor:contact name="fl_caster_r_wheel_contact_sensor">
- <geom>fl_caster_r_wheel_collision</geom>
- <updateRate>1000.0</updateRate>
- <controller:ros_bumper name="fl_caster_r_wheel_ros_bumper_controller" plugin="libros_bumper.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <bumperTopicName>fl_caster_r_wheel_bumper</bumperTopicName>
- <interface:bumper name="fl_caster_r_wheel_ros_bumper_iface"/>
- </controller:ros_bumper>
- </sensor:contact>
- </verbatim>
- </map>
- </link><transmission name="fl_caster_r_wheel_trans" type="SimpleTransmission">
- <actuator name="fl_caster_r_wheel_motor"/>
- <joint name="fl_caster_r_wheel_joint"/>
- <mechanicalReduction>-75.05</mechanicalReduction>
- </transmission><joint name="fr_caster_rotation_joint" type="revolute">
- <axis xyz="0 0 1"/>
- <anchor xyz="0 0 0"/>
- <limit effort="100" k_velocity="10" velocity="100"/>
- <calibration values="1.5 -1"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint><link name="fr_caster_rotation_link">
- <parent name="base_link"/>
- <origin rpy="0 0 0" xyz="0.2225 -0.2225 0.0282"/>
- <joint name="fr_caster_rotation_joint"/>
-
- <inertial>
- <mass value="3.473082"/>
- <com xyz="0 0 0"/>
- <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
- </inertial>
-
- <visual>
- <origin rpy="0 0 0 " xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <elem key="material" value="Gazebo/Green"/>
- </map>
- <geometry name="fr_caster_rotation_visual">
- <mesh filename="caster" scale="1 1 1"/>
- </geometry>
- </visual>
-
- <collision>
- <origin rpy="0.0 0.0 0.0 " xyz="0 0 0.07"/>
- <geometry name="fr_caster_rotation_collision">
- <box size="0.192 0.164 0.013"/>
- </geometry>
- </collision>
- </link><transmission name="fr_caster_rotation_trans" type="SimpleTransmission">
- <actuator name="fr_caster_rotation_motor"/>
- <joint name="fr_caster_rotation_joint"/>
- <mechanicalReduction>-75.05</mechanicalReduction>
- </transmission><joint name="fr_caster_l_wheel_joint" type="revolute">
- <axis xyz="0 1 0"/>
- <anchor xyz="0 0 0"/>
- <limit effort="100" k_velocity="10" velocity="100"/>
- <calibration values="1.5 -1"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint><link name="fr_caster_l_wheel_link">
- <parent name="fr_caster_rotation_link"/>
- <joint name="fr_caster_l_wheel_joint"/>
- <origin rpy="0 0 0" xyz="0 0.049 0"/>
- <inertial>
- <mass value="0.44036"/> <!-- check jmh 20081205 -->
- <com xyz=" 0 0 0 "/>
- <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <!-- TODO should be different for left and right wheel-->
- <elem key="material" value="PR2/fr_caster_l_wheel_link"/>
- </map>
- <geometry name="fr_caster_l_wheel_visual">
- <mesh filename="wheel"/>
- </geometry>
-
- </visual>
- <collision>
- <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
- <geometry name="fr_caster_l_wheel_collision">
- <cylinder length="0.03" radius="0.079"/>
- </geometry>
- <map flag="gazebo" name="friction_coefficients">
- <elem key="mu1" value="50.0"/>
- <elem key="mu2" value="50.0"/>
- <elem key="kp" value="1000000.0"/>
- <elem key="kd" value="1.0"/>
- </map>
- </collision>
- <map flag="gazebo" name="fr_caster_l_wheel_sensor">
- <verbatim key="fr_caster_l_wheel_bumper_sensor">
- <sensor:contact name="fr_caster_l_wheel_contact_sensor">
- <geom>fr_caster_l_wheel_collision</geom>
- <updateRate>1000.0</updateRate>
- <controller:ros_bumper name="fr_caster_l_wheel_ros_bumper_controller" plugin="libros_bumper.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <bumperTopicName>fr_caster_l_wheel_bumper</bumperTopicName>
- <interface:bumper name="fr_caster_l_wheel_ros_bumper_iface"/>
- </controller:ros_bumper>
- </sensor:contact>
- </verbatim>
- </map>
- </link><transmission name="fr_caster_l_wheel_trans" type="SimpleTransmission">
- <actuator name="fr_caster_l_wheel_motor"/>
- <joint name="fr_caster_l_wheel_joint"/>
- <mechanicalReduction>75.05</mechanicalReduction>
- </transmission><joint name="fr_caster_r_wheel_joint" type="revolute">
- <axis xyz="0 1 0"/>
- <anchor xyz="0 0 0"/>
- <limit effort="100" k_velocity="10" velocity="100"/>
- <calibration values="1.5 -1"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint><link name="fr_caster_r_wheel_link">
- <parent name="fr_caster_rotation_link"/>
- <joint name="fr_caster_r_wheel_joint"/>
- <origin rpy="0 0 0" xyz="0 -0.049 0"/>
- <inertial>
- <mass value="0.44036"/> <!-- check jmh 20081205 -->
- <com xyz=" 0 0 0 "/>
- <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <!-- TODO should be different for left and right wheel-->
- <elem key="material" value="PR2/fr_caster_r_wheel_link"/>
- </map>
- <geometry name="fr_caster_r_wheel_visual">
- <mesh filename="wheel"/>
- </geometry>
-
- </visual>
- <collision>
- <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
- <geometry name="fr_caster_r_wheel_collision">
- <cylinder length="0.03" radius="0.079"/>
- </geometry>
- <map flag="gazebo" name="friction_coefficients">
- <elem key="mu1" value="50.0"/>
- <elem key="mu2" value="50.0"/>
- <elem key="kp" value="1000000.0"/>
- <elem key="kd" value="1.0"/>
- </map>
- </collision>
- <map flag="gazebo" name="fr_caster_r_wheel_sensor">
- <verbatim key="fr_caster_r_wheel_bumper_sensor">
- <sensor:contact name="fr_caster_r_wheel_contact_sensor">
- <geom>fr_caster_r_wheel_collision</geom>
- <updateRate>1000.0</updateRate>
- <controller:ros_bumper name="fr_caster_r_wheel_ros_bumper_controller" plugin="libros_bumper.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <bumperTopicName>fr_caster_r_wheel_bumper</bumperTopicName>
- <interface:bumper name="fr_caster_r_wheel_ros_bumper_iface"/>
- </controller:ros_bumper>
- </sensor:contact>
- </verbatim>
- </map>
- </link><transmission name="fr_caster_r_wheel_trans" type="SimpleTransmission">
- <actuator name="fr_caster_r_wheel_motor"/>
- <joint name="fr_caster_r_wheel_joint"/>
- <mechanicalReduction>-75.05</mechanicalReduction>
- </transmission><joint name="bl_caster_rotation_joint" type="revolute">
- <axis xyz="0 0 1"/>
- <anchor xyz="0 0 0"/>
- <limit effort="100" k_velocity="10" velocity="100"/>
- <calibration values="1.5 -1"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint><link name="bl_caster_rotation_link">
- <parent name="base_link"/>
- <origin rpy="0 0 0" xyz="-0.2225 0.2225 0.0282"/>
- <joint name="bl_caster_rotation_joint"/>
-
- <inertial>
- <mass value="3.473082"/>
- <com xyz="0 0 0"/>
- <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
- </inertial>
-
- <visual>
- <origin rpy="0 0 0 " xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <elem key="material" value="Gazebo/Green"/>
- </map>
- <geometry name="bl_caster_rotation_visual">
- <mesh filename="caster" scale="1 1 1"/>
- </geometry>
- </visual>
-
- <collision>
- <origin rpy="0.0 0.0 0.0 " xyz="0 0 0.07"/>
- <geometry name="bl_caster_rotation_collision">
- <box size="0.192 0.164 0.013"/>
- </geometry>
- </collision>
- </link><transmission name="bl_caster_rotation_trans" type="SimpleTransmission">
- <actuator name="bl_caster_rotation_motor"/>
- <joint name="bl_caster_rotation_joint"/>
- <mechanicalReduction>-75.05</mechanicalReduction>
- </transmission><joint name="bl_caster_l_wheel_joint" type="revolute">
- <axis xyz="0 1 0"/>
- <anchor xyz="0 0 0"/>
- <limit effort="100" k_velocity="10" velocity="100"/>
- <calibration values="1.5 -1"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint><link name="bl_caster_l_wheel_link">
- <parent name="bl_caster_rotation_link"/>
- <joint name="bl_caster_l_wheel_joint"/>
- <origin rpy="0 0 0" xyz="0 0.049 0"/>
- <inertial>
- <mass value="0.44036"/> <!-- check jmh 20081205 -->
- <com xyz=" 0 0 0 "/>
- <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <!-- TODO should be different for left and right wheel-->
- <elem key="material" value="PR2/bl_caster_l_wheel_link"/>
- </map>
- <geometry name="bl_caster_l_wheel_visual">
- <mesh filename="wheel"/>
- </geometry>
-
- </visual>
- <collision>
- <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
- <geometry name="bl_caster_l_wheel_collision">
- <cylinder length="0.03" radius="0.079"/>
- </geometry>
- <map flag="gazebo" name="friction_coefficients">
- <elem key="mu1" value="50.0"/>
- <elem key="mu2" value="50.0"/>
- <elem key="kp" value="1000000.0"/>
- <elem key="kd" value="1.0"/>
- </map>
- </collision>
- <map flag="gazebo" name="bl_caster_l_wheel_sensor">
- <verbatim key="bl_caster_l_wheel_bumper_sensor">
- <sensor:contact name="bl_caster_l_wheel_contact_sensor">
- <geom>bl_caster_l_wheel_collision</geom>
- <updateRate>1000.0</updateRate>
- <controller:ros_bumper name="bl_caster_l_wheel_ros_bumper_controller" plugin="libros_bumper.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <bumperTopicName>bl_caster_l_wheel_bumper</bumperTopicName>
- <interface:bumper name="bl_caster_l_wheel_ros_bumper_iface"/>
- </controller:ros_bumper>
- </sensor:contact>
- </verbatim>
- </map>
- </link><transmission name="bl_caster_l_wheel_trans" type="SimpleTransmission">
- <actuator name="bl_caster_l_wheel_motor"/>
- <joint name="bl_caster_l_wheel_joint"/>
- <mechanicalReduction>75.05</mechanicalReduction>
- </transmission><joint name="bl_caster_r_wheel_joint" type="revolute">
- <axis xyz="0 1 0"/>
- <anchor xyz="0 0 0"/>
- <limit effort="100" k_velocity="10" velocity="100"/>
- <calibration values="1.5 -1"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint><link name="bl_caster_r_wheel_link">
- <parent name="bl_caster_rotation_link"/>
- <joint name="bl_caster_r_wheel_joint"/>
- <origin rpy="0 0 0" xyz="0 -0.049 0"/>
- <inertial>
- <mass value="0.44036"/> <!-- check jmh 20081205 -->
- <com xyz=" 0 0 0 "/>
- <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <map flag="gazebo" name="gazebo_material">
- <!-- TODO should be different for left and right wheel-->
- <elem key="material" value="PR2/bl_caster_r_wheel_link"/>
- </map>
- <geometry name="bl_caster_r_wheel_visual">
- <mesh filename="wheel"/>
- </geometry>
-
- </visual>
- <collision>
- <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
- <geometry name="bl_caster_r_wheel_collision">
- <cylinder length="0.03" radius="0.079"/>
- </geometry>
- <map flag="gazebo" name="friction_coefficients">
- <elem key="mu1" value="50.0"/>
- <elem key="mu2" value="50.0"/>
- <elem key="kp" value="1000000.0"/>
- <elem key="kd" value="1.0"/>
- </map>
- </collision>
- <map flag="gazebo" name="bl_caster_r_wheel_sensor">
- <verbatim key="bl_caster_r_wheel_bumper_sensor">
- <sensor:contact name="bl_caster_r_wheel_contact_sensor">
- <geom>bl_caster_r_wheel_collision</geom>
- <updateRate>1000.0</updateRate>
- <controller:ros_bumper name="bl_caster_r_wheel_ros_bumper_controller" plugin="libros_bumper.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>1000.0</updateRate>
- <bumperTopicName>bl_caster_r_wheel_bumper</bumperTopicName>
- <interface:bumper name="bl_caster_r_wheel_ros_bumper_iface"/>
- </controller:ros_bumper>
- </sensor:contact>
- </verbatim>
- </map>
- </link><transmission name="bl_caster_r_wheel_trans" type="SimpleTransmission">
- <actuator name="bl_caster_r_wheel_motor"/>
- <joint name="bl_caster_r_wheel_joint"/>
- <mechanicalReduction>-75.05</mechanicalReduction>
- </transmission><joint name="br_caster_rotati...
[truncated message content] |
|
From: <stu...@us...> - 2009-08-28 23:25:36
|
Revision: 23305
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23305&view=rev
Author: stuglaser
Date: 2009-08-28 23:25:27 +0000 (Fri, 28 Aug 2009)
Log Message:
-----------
Added a test for ensuring that the milestone2 controller come up
Modified Paths:
--------------
pkg/trunk/sandbox/mechanism_control_test/manifest.xml
Added Paths:
-----------
pkg/trunk/demos/milestone2/milestone2_tests/test/test_controllers_load.launch
pkg/trunk/sandbox/mechanism_control_test/scripts/
pkg/trunk/sandbox/mechanism_control_test/scripts/test_controllers_loaded.py
Added: pkg/trunk/demos/milestone2/milestone2_tests/test/test_controllers_load.launch
===================================================================
--- pkg/trunk/demos/milestone2/milestone2_tests/test/test_controllers_load.launch (rev 0)
+++ pkg/trunk/demos/milestone2/milestone2_tests/test/test_controllers_load.launch 2009-08-28 23:25:27 UTC (rev 23305)
@@ -0,0 +1,11 @@
+<launch>
+
+ <include file="$(find pr2_defs)/launch/upload_pr2.launch" />
+ <include file="$(find milestone2_actions)/config/controllers.xml" />
+ <node pkg="mechanism_control_test" type="mechanism_controller_test" args="-x /robot_description_new" />
+
+ <test test-name="test_controllers_loaded" pkg="mechanism_control_test" type="test_controllers_loaded.py"
+ args="pr2_base_controller pr2_base_odometry head_controller r_gripper_effort_controller r_gripper_position_controller torso_lift_velocity_controller r_arm_constraint_cartesian_wrench_controller r_arm_constraint_cartesian_twist_controller r_arm_constraint_cartesian_pose_controller r_arm_constraint_cartesian_trajectory_controller r_arm_cartesian_tff_controller r_arm_cartesian_wrench_controller r_arm_cartesian_twist_controller r_arm_cartesian_pose_controller r_arm_cartesian_trajectory_controller r_arm_hybrid_controller laser_tilt_controller r_arm_joint_trajectory_controller" />
+
+
+</launch>
Modified: pkg/trunk/sandbox/mechanism_control_test/manifest.xml
===================================================================
--- pkg/trunk/sandbox/mechanism_control_test/manifest.xml 2009-08-28 23:24:50 UTC (rev 23304)
+++ pkg/trunk/sandbox/mechanism_control_test/manifest.xml 2009-08-28 23:25:27 UTC (rev 23305)
@@ -8,10 +8,10 @@
<depend package="roscpp" />
<depend package="pr2_hardware_interface" />
<depend package="pr2_mechanism_control" />
+ <depend package="rostest" />
+ <depend package="hardware_interface" />
+ <depend package="mechanism_control" />
- <!-- The controllers packages for testing -->
- <!--<depend package="robot_mechanism_controllers" />-->
-
<url>http://pr.willowgarage.com</url>
<repository>http://pr.willowgarage.com/repos</repository>
<export>
Added: pkg/trunk/sandbox/mechanism_control_test/scripts/test_controllers_loaded.py
===================================================================
--- pkg/trunk/sandbox/mechanism_control_test/scripts/test_controllers_loaded.py (rev 0)
+++ pkg/trunk/sandbox/mechanism_control_test/scripts/test_controllers_loaded.py 2009-08-28 23:25:27 UTC (rev 23305)
@@ -0,0 +1,90 @@
+#! /usr/bin/env python
+# 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, Inc. 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.
+
+# Tests that controllers are loaded. Fails if any of the controllers on the
+# argument list have not loaded after no new controllers are loaded for 10
+# seconds.
+
+# Author: Stuart Glaser
+
+STABLIZE_TIME = 10.0
+
+import roslib; roslib.load_manifest('mechanism_control_test')
+import sys, time
+import unittest
+import rospy
+from mechanism_msgs.srv import *
+from mechanism_control import mechanism
+from mechanism_msgs.srv import *
+
+rospy.wait_for_service('list_controllers')
+list_controllers_srv = rospy.ServiceProxy('list_controllers', ListControllers)
+def list_controllers():
+ resp = list_controllers_srv().controllers
+ # HACK until #2654 is fixed
+ controllers = []
+ for c in resp:
+ i = c.index(' ')
+ controllers.append(c[:i])
+ return controllers
+
+#resp = s.call(ListControllersRequest())
+
+
+class TestControllersLoaded(unittest.TestCase):
+ def test_controllers_loaded(self):
+ #controllers_expected = rospy.myargv()[1:]
+ controllers_expected = [c for c in rospy.myargv()[1:] if not c.startswith('-')]
+ controllers_up = list_controllers()
+
+ count = 0
+ while not rospy.is_shutdown():
+ time.sleep(STABLIZE_TIME)
+ controllers_up_latest = list_controllers()
+ controllers_up_latest.sort()
+ print ".",
+ if controllers_up_latest == controllers_up:
+ break
+
+ controllers_up = controllers_up_latest
+
+ count += 1
+ if count > 100:
+ self.fail("The loaded controllers won't stabilize! Giving up")
+ return
+ print
+
+ print "Expected: ", ', '.join(controllers_expected)
+ print "Up: ", ', '.join(controllers_up)
+ for c in controllers_expected:
+ self.assert_(c in controllers_up, "Expected controller %s to be loaded, but it wasn't" % c)
+
+
+if __name__ == '__main__':
+ import rostest
+ rostest.rosrun("test_controller_loaded", "test_controllers_loaded", TestControllersLoaded)
Property changes on: pkg/trunk/sandbox/mechanism_control_test/scripts/test_controllers_loaded.py
___________________________________________________________________
Added: svn:executable
+ *
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <mee...@us...> - 2009-08-29 00:23:50
|
Revision: 23320
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23320&view=rev
Author: meeussen
Date: 2009-08-29 00:23:26 +0000 (Sat, 29 Aug 2009)
Log Message:
-----------
rename include folders to pr2_something. door test passes
Modified Paths:
--------------
pkg/trunk/calibration_experimental/laser_cb_processing/src/pr2_tilt_laser_projector.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_kinematics.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/gripper_calibration_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_position_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_traj_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/wrist_calibration_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/src/head_position_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/test/test_base_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_pose_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_twist_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_wrench_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_effort_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_position_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_ud_calibration_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_velocity_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/trigger_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_pose_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_twist_controller.cpp
pkg/trunk/sandbox/dallas_controller/src/dallas_controller.cpp
pkg/trunk/sandbox/dynamics_estimation/include/dynamics_estimation/dynamics_estimation_node.h
pkg/trunk/sandbox/dynamics_estimation/manifest.xml
pkg/trunk/sandbox/dynamics_estimation/src/dynamics_estimation_node.cpp
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/arm_trajectory_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_hybrid_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_pose_twist_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_spline_trajectory_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_tff_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_trajectory_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_twist_controller_ik.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/caster_controller_effort.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/endeffector_constraint_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/head_servoing_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_autotuner.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_blind_calibration_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_calibration_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_chain_constraint_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_chain_sine_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_inverse_dynamics_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_limit_calibration_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_pd_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_position_smoothing_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_trajectory_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/laser_scanner_qualification.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/pid_position_velocity_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/plug_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/pr2_gripper_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/probe.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/trajectory_controller.h
pkg/trunk/sandbox/experimental_controllers/src/cartesian_pose_twist_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/cartesian_tff_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/cartesian_trajectory_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/cartesian_twist_controller_ik.cpp
pkg/trunk/sandbox/experimental_controllers/src/head_servoing_controller.cpp
pkg/trunk/sandbox/mechanism_control_test/include/mechanism_controller_test/null_hardware.h
pkg/trunk/sandbox/mechanism_control_test/src/mechanism_controller_test.cpp
pkg/trunk/sandbox/mechanism_control_test/src/null_hardware.cpp
pkg/trunk/sandbox/pr2_gripper_controller/include/pr2_gripper_controller/pr2_gripper_controller.h
pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/include/joint_qualification_controllers/checkout_controller.h
pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/include/joint_qualification_controllers/hold_set_controller.h
pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/include/joint_qualification_controllers/hysteresis_controller.h
pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/include/joint_qualification_controllers/sine_sweep_controller.h
pkg/trunk/sandbox/rtt_controller/src/pr2_etherCAT_component.cpp
pkg/trunk/sandbox/trajectory_controllers/include/trajectory_controllers/joint_trajectory_controller2.h
pkg/trunk/stacks/pr2/pr2_etherCAT/src/main.cpp
pkg/trunk/stacks/pr2_ethercat_drivers/ethercat_hardware/include/ethercat_hardware/ethercat_device.h
pkg/trunk/stacks/pr2_ethercat_drivers/ethercat_hardware/include/ethercat_hardware/ethercat_hardware.h
pkg/trunk/stacks/pr2_mechanism/pr2_controller_interface/include/pr2_controller_interface/controller.h
pkg/trunk/stacks/pr2_mechanism/pr2_controller_interface/manifest.xml
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/include/mechanism_control/controller_spec.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/include/mechanism_control/mechanism_control.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/include/mechanism_control/recorder.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/include/mechanism_control/scheduler.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/scripts/mech.py
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/scripts/spawner.py
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/src/action_mechanism_control.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/src/mechanism_control.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/src/recorder.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/src/scheduler.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/test/ms_publisher_test.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/chain.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/gripper_transmission.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/link.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/pr2_gripper_transmission.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/robot.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/simple_transmission.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/transmission.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/wrist_transmission.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/chain.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/gripper_transmission.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/joint.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/link.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/nonlinear_transmission.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/pr2_gripper_transmission.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/robot.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/simple_transmission.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/wrist_transmission.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/test/test_chain.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/transmission_plugins.xml
pkg/trunk/stacks/pr2_simulator/gazebo_plugin/include/gazebo_plugin/gazebo_mechanism_control.h
pkg/trunk/stacks/pr2_simulator/gazebo_plugin/src/gazebo_mechanism_control.cpp
pkg/trunk/stacks/trex/trex_pr2/cfg/master.cfg
pkg/trunk/stacks/trex/trex_pr2/cfg/mechanism_control.cfg
Added Paths:
-----------
pkg/trunk/stacks/pr2_mechanism/pr2_controller_interface/include/pr2_controller_interface/
pkg/trunk/stacks/pr2_mechanism/pr2_hardware_interface/include/pr2_hardware_interface/
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/src/pr2_mechanism_control/
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/
Removed Paths:
-------------
pkg/trunk/stacks/pr2_mechanism/pr2_controller_interface/include/controller_interface/
pkg/trunk/stacks/pr2_mechanism/pr2_hardware_interface/include/hardware_interface/
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/src/mechanism_control/
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/mechanism_model/
Modified: pkg/trunk/calibration_experimental/laser_cb_processing/src/pr2_tilt_laser_projector.cpp
===================================================================
--- pkg/trunk/calibration_experimental/laser_cb_processing/src/pr2_tilt_laser_projector.cpp 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/calibration_experimental/laser_cb_processing/src/pr2_tilt_laser_projector.cpp 2009-08-29 00:23:26 UTC (rev 23320)
@@ -35,10 +35,10 @@
#include "ros/node_handle.h"
#include "sensor_msgs/PointCloud.h"
-#include "mechanism_model/robot.h"
-#include "mechanism_model/chain.h"
+#include "pr2_mechanism_model/robot.h"
+#include "pr2_mechanism_model/chain.h"
#include "tinyxml/tinyxml.h"
-#include "hardware_interface/hardware_interface.h"
+#include "pr2_hardware_interface/hardware_interface.h"
#include "kdl/chainfksolverpos_recursive.hpp"
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_kinematics.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_kinematics.h 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_kinematics.h 2009-08-29 00:23:26 UTC (rev 23320)
@@ -38,8 +38,8 @@
#ifndef PR2_BASE_KINEMATICS_H
#define PR2_BASE_KINEMATICS_H
-#include <mechanism_model/robot.h>
-#include <controller_interface/controller.h>
+#include <pr2_mechanism_model/robot.h>
+#include <pr2_controller_interface/controller.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Point.h>
#include <control_toolbox/filters.h>
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_controller.h 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_controller.h 2009-08-29 00:23:26 UTC (rev 23320)
@@ -44,8 +44,8 @@
#include "ros/node_handle.h"
-#include "controller_interface/controller.h"
-#include "mechanism_model/robot.h"
+#include "pr2_controller_interface/controller.h"
+#include "pr2_mechanism_model/robot.h"
#include "control_toolbox/pid.h"
#include "robot_mechanism_controllers/joint_velocity_controller.h"
#include "std_msgs/Float64.h"
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/gripper_calibration_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/gripper_calibration_controller.h 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/gripper_calibration_controller.h 2009-08-29 00:23:26 UTC (rev 23320)
@@ -36,7 +36,7 @@
-#include "mechanism_model/robot.h"
+#include "pr2_mechanism_model/robot.h"
#include "robot_mechanism_controllers/joint_velocity_controller.h"
#include "realtime_tools/realtime_publisher.h"
#include "std_msgs/Empty.h"
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_position_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_position_controller.h 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_position_controller.h 2009-08-29 00:23:26 UTC (rev 23320)
@@ -41,7 +41,7 @@
#include <ros/node.h>
#include <ros/node_handle.h>
-#include <controller_interface/controller.h>
+#include <pr2_controller_interface/controller.h>
#include <tf/transform_listener.h>
#include <tf/message_notifier.h>
#include <tf/transform_datatypes.h>
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_traj_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_traj_controller.h 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_traj_controller.h 2009-08-29 00:23:26 UTC (rev 23320)
@@ -36,7 +36,7 @@
#include <ros/node.h>
-#include <controller_interface/controller.h>
+#include <pr2_controller_interface/controller.h>
#include <control_toolbox/pid.h>
//#include <robot_mechanism_controllers/joint_position_smoothing_controller.h>
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/wrist_calibration_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/wrist_calibration_controller.h 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/wrist_calibration_controller.h 2009-08-29 00:23:26 UTC (rev 23320)
@@ -45,7 +45,7 @@
#include "robot_mechanism_controllers/joint_velocity_controller.h"
#include "realtime_tools/realtime_publisher.h"
-#include "mechanism_model/wrist_transmission.h"
+#include "pr2_mechanism_model/wrist_transmission.h"
#include "std_msgs/Empty.h"
namespace controller {
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/head_position_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/head_position_controller.cpp 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/head_position_controller.cpp 2009-08-29 00:23:26 UTC (rev 23320)
@@ -35,7 +35,7 @@
#include "pr2_mechanism_controllers/head_position_controller.h"
#include <cmath>
-#include "mechanism_control/mechanism_control.h"
+#include "pr2_mechanism_control/mechanism_control.h"
#include "pluginlib/class_list_macros.h"
using namespace tf;
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/test/test_base_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/test/test_base_controller.cpp 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/test/test_base_controller.cpp 2009-08-29 00:23:26 UTC (rev 23320)
@@ -1,7 +1,7 @@
#include <pr2_mechanism_controllers/base_controller.h>
#include <hardware_interface/hardware_interface.h>
-#include <mechanism_model/robot.h>
+#include <pr2_mechanism_model/robot.h>
#include <urdf/parser.h>
#include <ros/node.h>
Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_pose_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_pose_controller.h 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_pose_controller.h 2009-08-29 00:23:26 UTC (rev 23320)
@@ -77,7 +77,7 @@
#include <ros/node.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Twist.h>
-#include <controller_interface/controller.h>
+#include <pr2_controller_interface/controller.h>
#include <realtime_tools/realtime_publisher.h>
#include <boost/scoped_ptr.hpp>
#include "robot_mechanism_controllers/cartesian_twist_controller.h"
Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_twist_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_twist_controller.h 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_twist_controller.h 2009-08-29 00:23:26 UTC (rev 23320)
@@ -67,7 +67,7 @@
#include <kdl/frames.hpp>
#include <ros/node.h>
#include <geometry_msgs/Twist.h>
-#include <controller_interface/controller.h>
+#include <pr2_controller_interface/controller.h>
#include <tf/transform_datatypes.h>
#include <robot_mechanism_controllers/cartesian_wrench_controller.h>
#include <control_toolbox/pid.h>
Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_wrench_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_wrench_controller.h 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_wrench_controller.h 2009-08-29 00:23:26 UTC (rev 23320)
@@ -60,8 +60,8 @@
#include <kdl/chainjnttojacsolver.hpp>
#include <ros/node_handle.h>
#include <geometry_msgs/Wrench.h>
-#include <controller_interface/controller.h>
-#include <mechanism_model/chain.h>
+#include <pr2_controller_interface/controller.h>
+#include <pr2_mechanism_model/chain.h>
#include <tf/transform_datatypes.h>
#include <realtime_tools/realtime_publisher.h>
#include <boost/scoped_ptr.hpp>
Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_effort_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_effort_controller.h 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_effort_controller.h 2009-08-29 00:23:26 UTC (rev 23320)
@@ -52,7 +52,7 @@
*/
#include <ros/node.h>
-#include <controller_interface/controller.h>
+#include <pr2_controller_interface/controller.h>
#include <std_msgs/Float64.h>
Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_position_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_position_controller.h 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_position_controller.h 2009-08-29 00:23:26 UTC (rev 23320)
@@ -60,7 +60,7 @@
#include <ros/node.h>
-#include <controller_interface/controller.h>
+#include <pr2_controller_interface/controller.h>
#include <control_toolbox/pid.h>
#include "control_toolbox/pid_gains_setter.h"
#include <boost/scoped_ptr.hpp>
Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_ud_calibration_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_ud_calibration_controller.h 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_ud_calibration_controller.h 2009-08-29 00:23:26 UTC (rev 23320)
@@ -35,7 +35,7 @@
#pragma once
#include "ros/node_handle.h"
-#include "mechanism_model/robot.h"
+#include "pr2_mechanism_model/robot.h"
#include "robot_mechanism_controllers/joint_velocity_controller.h"
#include "realtime_tools/realtime_publisher.h"
#include "std_msgs/Empty.h"
Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_velocity_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_velocity_controller.h 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_velocity_controller.h 2009-08-29 00:23:26 UTC (rev 23320)
@@ -63,7 +63,7 @@
#include <ros/node_handle.h>
#include <boost/scoped_ptr.hpp>
-#include "controller_interface/controller.h"
+#include "pr2_controller_interface/controller.h"
#include "control_toolbox/pid.h"
#include "control_toolbox/pid_gains_setter.h"
Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/trigger_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/trigger_controller.h 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/trigger_controller.h 2009-08-29 00:23:26 UTC (rev 23320)
@@ -36,10 +36,9 @@
#define TRIGGER_CONTROLLER_H
#include <ros/node.h>
-#include <controller_interface/controller.h>
-#include <mechanism_model/robot.h>
+#include <pr2_controller_interface/controller.h>
+#include <pr2_mechanism_model/robot.h>
#include <robot_mechanism_controllers/SetWaveform.h>
-#include "hardware_interface/hardware_interface.h"
#include <realtime_tools/realtime_publisher.h>
#include <roslib/Header.h>
#include <boost/scoped_ptr.hpp>
Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_pose_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_pose_controller.cpp 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_pose_controller.cpp 2009-08-29 00:23:26 UTC (rev 23320)
@@ -36,7 +36,7 @@
#include "robot_mechanism_controllers/cartesian_pose_controller.h"
#include <algorithm>
#include "kdl/chainfksolverpos_recursive.hpp"
-#include "mechanism_control/mechanism_control.h"
+#include "pr2_mechanism_control/mechanism_control.h"
#include "pluginlib/class_list_macros.h"
Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_twist_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_twist_controller.cpp 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_twist_controller.cpp 2009-08-29 00:23:26 UTC (rev 23320)
@@ -33,7 +33,7 @@
#include "robot_mechanism_controllers/cartesian_twist_controller.h"
#include <algorithm>
-#include "mechanism_control/mechanism_control.h"
+#include "pr2_mechanism_control/mechanism_control.h"
#include "kdl/chainfksolvervel_recursive.hpp"
#include "pluginlib/class_list_macros.h"
Modified: pkg/trunk/sandbox/dallas_controller/src/dallas_controller.cpp
===================================================================
--- pkg/trunk/sandbox/dallas_controller/src/dallas_controller.cpp 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/sandbox/dallas_controller/src/dallas_controller.cpp 2009-08-29 00:23:26 UTC (rev 23320)
@@ -29,7 +29,7 @@
#include "dallas_controller/dallas_controller.h"
#include "pluginlib/class_list_macros.h"
-#include "controller_interface/controller.h"
+#include "pr2_controller_interface/controller.h"
#include <angles/angles.h>
Modified: pkg/trunk/sandbox/dynamics_estimation/include/dynamics_estimation/dynamics_estimation_node.h
===================================================================
--- pkg/trunk/sandbox/dynamics_estimation/include/dynamics_estimation/dynamics_estimation_node.h 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/sandbox/dynamics_estimation/include/dynamics_estimation/dynamics_estimation_node.h 2009-08-29 00:23:26 UTC (rev 23320)
@@ -41,9 +41,8 @@
#include <pr2_mechanism_msgs/MechanismState.h>
#include <vector>
#include <dynamics_estimation/trajectory_point.h>
-#include <mechanism_model/robot.h>
-#include <mechanism_model/chain.h>
-#include <hardware_interface/hardware_interface.h>
+#include <pr2_mechanism_model/robot.h>
+#include <pr2_mechanism_model/chain.h>
#include <kdl/chain.hpp>
#include <Eigen/Core>
@@ -96,7 +95,6 @@
std::string bag_file_; /**< Bag file to load trajectory data from */
bool use_bag_file_; /**< Should I load data from a bag file or listen to mechanism_state? */
- HardwareInterface hardware_interface_; /**< Hardware interface, for creating the mechanism_chain_ */
mechanism::Chain mechanism_chain_; /**< Mechanism chain */
KDL::Chain kdl_chain_; /**< KDL chain */
int num_joints_; /**< Number of actuated joints */
Modified: pkg/trunk/sandbox/dynamics_estimation/manifest.xml
===================================================================
--- pkg/trunk/sandbox/dynamics_estimation/manifest.xml 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/sandbox/dynamics_estimation/manifest.xml 2009-08-29 00:23:26 UTC (rev 23320)
@@ -15,7 +15,6 @@
<depend package="pr2_mechanism_msgs" />
<depend package="kdl" />
<depend package="pr2_mechanism_model" />
- <depend package="pr2_hardware_interface" />
</package>
Modified: pkg/trunk/sandbox/dynamics_estimation/src/dynamics_estimation_node.cpp
===================================================================
--- pkg/trunk/sandbox/dynamics_estimation/src/dynamics_estimation_node.cpp 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/sandbox/dynamics_estimation/src/dynamics_estimation_node.cpp 2009-08-29 00:23:26 UTC (rev 23320)
@@ -53,7 +53,6 @@
DynamicsEstimationNode::DynamicsEstimationNode():
use_bag_file_(false),
- hardware_interface_(0),
finished_data_collection_(false)
{
Modified: pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/arm_trajectory_controller.h
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/arm_trajectory_controller.h 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/arm_trajectory_controller.h 2009-08-29 00:23:26 UTC (rev 23320)
@@ -37,7 +37,7 @@
#include <ros/node.h>
#include <boost/thread/mutex.hpp>
-#include <controller_interface/controller.h>
+#include <pr2_controller_interface/controller.h>
#include <robot_mechanism_controllers/joint_position_controller.h>
#include <robot_mechanism_controllers/joint_velocity_controller.h>
#include <robot_mechanism_controllers/joint_effort_controller.h>
Modified: pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_hybrid_controller.h
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_hybrid_controller.h 2009-08-29 00:22:31 UTC (rev 23319)
+++ pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_hybrid_controller.h 2009-08-29 00:23:26 UTC (rev 23320)
@@ -32,10 +3...
[truncated message content] |
|
From: <mee...@us...> - 2009-08-29 01:41:23
|
Revision: 23323
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23323&view=rev
Author: meeussen
Date: 2009-08-29 01:41:15 +0000 (Sat, 29 Aug 2009)
Log Message:
-----------
remove old controller register macro
Modified Paths:
--------------
pkg/trunk/sandbox/experimental_controllers/src/arm_trajectory_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/base_position_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/cartesian_pose_twist_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/cartesian_spline_trajectory_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/cartesian_trajectory_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/caster_calibration_controller_effort.cpp
pkg/trunk/sandbox/experimental_controllers/src/caster_controller_effort.cpp
pkg/trunk/sandbox/experimental_controllers/src/endeffector_constraint_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_autotuner.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_blind_calibration_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_calibration_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_chain_sine_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_inverse_dynamics_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_limit_calibration_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_position_smoothing_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/laser_scanner_qualification.cpp
pkg/trunk/sandbox/experimental_controllers/src/plug_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/probe.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_controller_interface/include/pr2_controller_interface/controller.h
Modified: pkg/trunk/sandbox/experimental_controllers/src/arm_trajectory_controller.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/arm_trajectory_controller.cpp 2009-08-29 01:13:53 UTC (rev 23322)
+++ pkg/trunk/sandbox/experimental_controllers/src/arm_trajectory_controller.cpp 2009-08-29 01:41:15 UTC (rev 23323)
@@ -284,7 +284,6 @@
//------ Arm controller node --------
-ROS_REGISTER_CONTROLLER(ArmTrajectoryControllerNode)
ArmTrajectoryControllerNode::ArmTrajectoryControllerNode()
: Controller(), node_(ros::Node::instance()), request_trajectory_id_(1), current_trajectory_id_(0), trajectory_wait_timeout_(10.0)
Modified: pkg/trunk/sandbox/experimental_controllers/src/base_position_controller.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/base_position_controller.cpp 2009-08-29 01:13:53 UTC (rev 23322)
+++ pkg/trunk/sandbox/experimental_controllers/src/base_position_controller.cpp 2009-08-29 01:41:15 UTC (rev 23323)
@@ -37,7 +37,6 @@
using namespace pr2_mechanism_controllers ;
using namespace std ;
-ROS_REGISTER_CONTROLLER(BasePositionControllerNode)
BasePositionControllerNode::BasePositionControllerNode() : node_(ros::Node::instance()), tf_(*node_)
{
Modified: pkg/trunk/sandbox/experimental_controllers/src/cartesian_pose_twist_controller.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/cartesian_pose_twist_controller.cpp 2009-08-29 01:13:53 UTC (rev 23322)
+++ pkg/trunk/sandbox/experimental_controllers/src/cartesian_pose_twist_controller.cpp 2009-08-29 01:41:15 UTC (rev 23323)
@@ -47,7 +47,6 @@
namespace controller {
-ROS_REGISTER_CONTROLLER(CartesianPoseTwistController)
CartesianPoseTwistController::CartesianPoseTwistController()
: robot_state_(NULL),
Modified: pkg/trunk/sandbox/experimental_controllers/src/cartesian_spline_trajectory_controller.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/cartesian_spline_trajectory_controller.cpp 2009-08-29 01:13:53 UTC (rev 23322)
+++ pkg/trunk/sandbox/experimental_controllers/src/cartesian_spline_trajectory_controller.cpp 2009-08-29 01:41:15 UTC (rev 23323)
@@ -39,7 +39,6 @@
using namespace controller;
using namespace std;
-ROS_REGISTER_CONTROLLER(CartesianSplineTrajectoryController);
CartesianSplineTrajectoryController::CartesianSplineTrajectoryController():num_joints_(0),num_controllers_(0)
{
Modified: pkg/trunk/sandbox/experimental_controllers/src/cartesian_trajectory_controller.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/cartesian_trajectory_controller.cpp 2009-08-29 01:13:53 UTC (rev 23322)
+++ pkg/trunk/sandbox/experimental_controllers/src/cartesian_trajectory_controller.cpp 2009-08-29 01:41:15 UTC (rev 23323)
@@ -50,7 +50,6 @@
namespace controller {
-ROS_REGISTER_CONTROLLER(CartesianTrajectoryController)
CartesianTrajectoryController::CartesianTrajectoryController()
: jnt_to_pose_solver_(NULL),
Modified: pkg/trunk/sandbox/experimental_controllers/src/caster_calibration_controller_effort.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/caster_calibration_controller_effort.cpp 2009-08-29 01:13:53 UTC (rev 23322)
+++ pkg/trunk/sandbox/experimental_controllers/src/caster_calibration_controller_effort.cpp 2009-08-29 01:41:15 UTC (rev 23323)
@@ -153,7 +153,6 @@
}
-ROS_REGISTER_CONTROLLER(CasterCalibrationControllerEffortNode)
CasterCalibrationControllerEffortNode::CasterCalibrationControllerEffortNode()
: last_publish_time_(0), pub_calibrated_(NULL)
Modified: pkg/trunk/sandbox/experimental_controllers/src/caster_controller_effort.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/caster_controller_effort.cpp 2009-08-29 01:13:53 UTC (rev 23322)
+++ pkg/trunk/sandbox/experimental_controllers/src/caster_controller_effort.cpp 2009-08-29 01:41:15 UTC (rev 23323)
@@ -128,8 +128,6 @@
-ROS_REGISTER_CONTROLLER(CasterControllerEffortNode);
-
CasterControllerEffortNode::CasterControllerEffortNode()
{
}
Modified: pkg/trunk/sandbox/experimental_controllers/src/endeffector_constraint_controller.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/endeffector_constraint_controller.cpp 2009-08-29 01:13:53 UTC (rev 23322)
+++ pkg/trunk/sandbox/experimental_controllers/src/endeffector_constraint_controller.cpp 2009-08-29 01:41:15 UTC (rev 23323)
@@ -47,7 +47,6 @@
namespace controller {
-ROS_REGISTER_CONTROLLER(EndeffectorConstraintController)
EndeffectorConstraintController::EndeffectorConstraintController()
: jnt_to_jac_solver_(NULL),
@@ -328,9 +327,7 @@
-ROS_REGISTER_CONTROLLER(EndeffectorConstraintControllerNode)
-
EndeffectorConstraintControllerNode::EndeffectorConstraintControllerNode()
: node_(ros::Node::instance()), loop_count_(0)
{
Modified: pkg/trunk/sandbox/experimental_controllers/src/joint_autotuner.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/joint_autotuner.cpp 2009-08-29 01:13:53 UTC (rev 23322)
+++ pkg/trunk/sandbox/experimental_controllers/src/joint_autotuner.cpp 2009-08-29 01:41:15 UTC (rev 23323)
@@ -37,7 +37,6 @@
using namespace std;
using namespace controller;
#define POSITION 1
-ROS_REGISTER_CONTROLLER(JointAutotuner)
JointAutotuner::JointAutotuner()
{
@@ -306,7 +305,6 @@
/*
-ROS_REGISTER_CONTROLLER(JointAutotunerNode)
JointAutotunerNode::JointAutotunerNode()
{
std::cout<<"Created autotuner\n";
Modified: pkg/trunk/sandbox/experimental_controllers/src/joint_blind_calibration_controller.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/joint_blind_calibration_controller.cpp 2009-08-29 01:13:53 UTC (rev 23322)
+++ pkg/trunk/sandbox/experimental_controllers/src/joint_blind_calibration_controller.cpp 2009-08-29 01:41:15 UTC (rev 23323)
@@ -38,7 +38,6 @@
using namespace std;
using namespace controller;
-ROS_REGISTER_CONTROLLER(JointBlindCalibrationController)
JointBlindCalibrationController::JointBlindCalibrationController()
: state_(INITIALIZED), joint_(NULL)
@@ -189,8 +188,6 @@
}
-ROS_REGISTER_CONTROLLER(JointBlindCalibrationControllerNode)
-
JointBlindCalibrationControllerNode::JointBlindCalibrationControllerNode()
{
c_ = new JointBlindCalibrationController();
Modified: pkg/trunk/sandbox/experimental_controllers/src/joint_calibration_controller.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/joint_calibration_controller.cpp 2009-08-29 01:13:53 UTC (rev 23322)
+++ pkg/trunk/sandbox/experimental_controllers/src/joint_calibration_controller.cpp 2009-08-29 01:41:15 UTC (rev 23323)
@@ -38,7 +38,6 @@
using namespace std;
using namespace controller;
-//ROS_REGISTER_CONTROLLER(JointCalibrationController)
JointCalibrationController::JointCalibrationController()
: state_(INITIALIZED), actuator_(NULL), joint_(NULL), transmission_(NULL)
@@ -165,7 +164,6 @@
}
-ROS_REGISTER_CONTROLLER(JointCalibrationControllerNode)
JointCalibrationControllerNode::JointCalibrationControllerNode()
: robot_(NULL), last_publish_time_(0), pub_calibrated_(NULL)
Modified: pkg/trunk/sandbox/experimental_controllers/src/joint_chain_sine_controller.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/joint_chain_sine_controller.cpp 2009-08-29 01:13:53 UTC (rev 23322)
+++ pkg/trunk/sandbox/experimental_controllers/src/joint_chain_sine_controller.cpp 2009-08-29 01:41:15 UTC (rev 23323)
@@ -52,7 +52,6 @@
namespace controller
{
-ROS_REGISTER_CONTROLLER(JointChainSineController)
JointChainSineController::JointChainSineController():
robot_state_(NULL),
Modified: pkg/trunk/sandbox/experimental_controllers/src/joint_inverse_dynamics_controller.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/joint_inverse_dynamics_controller.cpp 2009-08-29 01:13:53 UTC (rev 23322)
+++ pkg/trunk/sandbox/experimental_controllers/src/joint_inverse_dynamics_controller.cpp 2009-08-29 01:41:15 UTC (rev 23323)
@@ -47,7 +47,6 @@
namespace controller {
-ROS_REGISTER_CONTROLLER(JointInverseDynamicsController);
JointInverseDynamicsController::JointInverseDynamicsController()
:robot_state_(NULL),
Modified: pkg/trunk/sandbox/experimental_controllers/src/joint_limit_calibration_controller.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/joint_limit_calibration_controller.cpp 2009-08-29 01:13:53 UTC (rev 23322)
+++ pkg/trunk/sandbox/experimental_controllers/src/joint_limit_calibration_controller.cpp 2009-08-29 01:41:15 UTC (rev 23323)
@@ -178,7 +178,6 @@
}
-ROS_REGISTER_CONTROLLER(JointLimitCalibrationControllerNode)
JointLimitCalibrationControllerNode::JointLimitCalibrationControllerNode()
: robot_(NULL), last_publish_time_(0)
Modified: pkg/trunk/sandbox/experimental_controllers/src/joint_position_smoothing_controller.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/joint_position_smoothing_controller.cpp 2009-08-29 01:13:53 UTC (rev 23322)
+++ pkg/trunk/sandbox/experimental_controllers/src/joint_position_smoothing_controller.cpp 2009-08-29 01:41:15 UTC (rev 23323)
@@ -163,7 +163,6 @@
/*
//------ Joint Position controller node --------
-ROS_REGISTER_CONTROLLER(JointPositionSmoothControllerNode)
JointPositionSmoothControllerNode::JointPositionSmoothControllerNode(): node_(ros::Node::instance())
{
Modified: pkg/trunk/sandbox/experimental_controllers/src/laser_scanner_qualification.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/laser_scanner_qualification.cpp 2009-08-29 01:13:53 UTC (rev 23322)
+++ pkg/trunk/sandbox/experimental_controllers/src/laser_scanner_qualification.cpp 2009-08-29 01:41:15 UTC (rev 23323)
@@ -48,7 +48,6 @@
using namespace std;
using namespace controller;
//#define DEBUG 1
-ROS_REGISTER_CONTROLLER(LaserScannerQualification)
LaserScannerQualification::LaserScannerQualification()
{
@@ -267,7 +266,6 @@
std::cout<<"\n";
}
-ROS_REGISTER_CONTROLLER(LaserScannerQualificationNode)
LaserScannerQualificationNode::LaserScannerQualificationNode()
{
c_ = new LaserScannerQualification();
Modified: pkg/trunk/sandbox/experimental_controllers/src/plug_controller.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/plug_controller.cpp 2009-08-29 01:13:53 UTC (rev 23322)
+++ pkg/trunk/sandbox/experimental_controllers/src/plug_controller.cpp 2009-08-29 01:41:15 UTC (rev 23323)
@@ -48,7 +48,6 @@
namespace controller {
-ROS_REGISTER_CONTROLLER(PlugController)
PlugController::PlugController() :
outlet_pt_(1, 0, 0),
@@ -349,9 +348,7 @@
-ROS_REGISTER_CONTROLLER(PlugControllerNode)
-
PlugControllerNode::PlugControllerNode()
: node_(ros::Node::instance()), loop_count_(0), TF(*ros::Node::instance(),false,ros::Duration(10.0))
{
Modified: pkg/trunk/sandbox/experimental_controllers/src/probe.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/probe.cpp 2009-08-29 01:13:53 UTC (rev 23322)
+++ pkg/trunk/sandbox/experimental_controllers/src/probe.cpp 2009-08-29 01:41:15 UTC (rev 23323)
@@ -32,7 +32,6 @@
namespace controller {
-ROS_REGISTER_CONTROLLER(Probe)
Probe::Probe()
: robot_(NULL), joint_(NULL)
Modified: pkg/trunk/stacks/pr2_mechanism/pr2_controller_interface/include/pr2_controller_interface/controller.h
===================================================================
--- pkg/trunk/stacks/pr2_mechanism/pr2_controller_interface/include/pr2_controller_interface/controller.h 2009-08-29 01:13:53 UTC (rev 23322)
+++ pkg/trunk/stacks/pr2_mechanism/pr2_controller_interface/include/pr2_controller_interface/controller.h 2009-08-29 01:41:15 UTC (rev 23323)
@@ -154,7 +154,4 @@
};
-
-// @ TODO: remove macro call from controllers
-#define ROS_REGISTER_CONTROLLER(c)
}
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <tpr...@us...> - 2009-08-29 03:33:22
|
Revision: 23330
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23330&view=rev
Author: tpratkanis
Date: 2009-08-29 03:33:12 +0000 (Sat, 29 Aug 2009)
Log Message:
-----------
Stop more spam during gazebo tests.
Modified Paths:
--------------
pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/ground_plane.xml
pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/map_server.xml
pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/new_amcl_node.xml
pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base/move_base.xml
pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base_local/move_base_local.xml
pkg/trunk/demos/milestone2/milestone2_actions/config/perception.xml
Modified: pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/ground_plane.xml
===================================================================
--- pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/ground_plane.xml 2009-08-29 02:13:07 UTC (rev 23329)
+++ pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/ground_plane.xml 2009-08-29 03:33:12 UTC (rev 23330)
@@ -1,6 +1,6 @@
<launch>
<node pkg="mux" type="throttle" args="3.0 ground_object_cloud ground_object_cloud_throttled" />
-<node pkg="semantic_point_annotator" type="sac_inc_ground_removal_node" name="sac_ground_removal" respawn="true" output="screen" machine="three" >
+<node pkg="semantic_point_annotator" type="sac_inc_ground_removal_node" name="sac_ground_removal" machine="three" >
<remap from="tilt_laser_cloud_filtered" to="tilt_scan_filtered" />
<remap from="cloud_ground_filtered" to="ground_object_cloud" />
<param name="z_threshold" value="0.15" />
Modified: pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/map_server.xml
===================================================================
--- pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/map_server.xml 2009-08-29 02:13:07 UTC (rev 23329)
+++ pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/map_server.xml 2009-08-29 03:33:12 UTC (rev 23330)
@@ -1,4 +1,4 @@
<launch>
-<node pkg="map_server" type="map_server" args="$(find willow_maps)/willow-full-0.025.pgm 0.025" respawn="true" machine="three" />
+<node pkg="map_server" type="map_server" args="$(find willow_maps)/willow-full-0.025.pgm 0.025" machine="three" />
<!--<node pkg="map_server" type="map_server" args="$(find willow_maps)/willow-full-0.05.pgm 0.05" respawn="false" machine="three" />-->
</launch>
Modified: pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/new_amcl_node.xml
===================================================================
--- pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/new_amcl_node.xml 2009-08-29 02:13:07 UTC (rev 23329)
+++ pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/config/new_amcl_node.xml 2009-08-29 03:33:12 UTC (rev 23330)
@@ -1,5 +1,5 @@
<launch>
-<node pkg="amcl" type="amcl" name="amcl" respawn="true" machine="three">
+<node pkg="amcl" type="amcl" name="amcl" machine="three">
<remap from="scan" to="base_scan" />
<!-- Publish scans from best pose at a max of 10 Hz -->
<param name="odom_model_type" value="omni"/>
Modified: pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base/move_base.xml
===================================================================
--- pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base/move_base.xml 2009-08-29 02:13:07 UTC (rev 23329)
+++ pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base/move_base.xml 2009-08-29 03:33:12 UTC (rev 23330)
@@ -8,7 +8,7 @@
<param name="action_name" value="move_base" />
</node>
-<node pkg="move_base" type="move_base" name="move_base" output="screen" machine="four">
+<node pkg="move_base" type="move_base" name="move_base" machine="four">
<remap from="odom" to="pr2_odometry/odom" />
<param name="controller_frequency" value="10.0" />
Modified: pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base_local/move_base_local.xml
===================================================================
--- pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base_local/move_base_local.xml 2009-08-29 02:13:07 UTC (rev 23329)
+++ pkg/trunk/applications/2dnav_pr2_app/2dnav_pr2/move_base_local/move_base_local.xml 2009-08-29 03:33:12 UTC (rev 23330)
@@ -8,7 +8,7 @@
<param name="action_name" value="move_base_local" />
</node>
-<node pkg="move_base" type="move_base" respawn="false" name="move_base_local" output="screen" machine="three">
+<node pkg="move_base" type="move_base" respawn="false" name="move_base_local" machine="three">
<remap from="odom" to="base/odom" />
<param name="controller_frequency" value="10.0" />
Modified: pkg/trunk/demos/milestone2/milestone2_actions/config/perception.xml
===================================================================
--- pkg/trunk/demos/milestone2/milestone2_actions/config/perception.xml 2009-08-29 02:13:07 UTC (rev 23329)
+++ pkg/trunk/demos/milestone2/milestone2_actions/config/perception.xml 2009-08-29 03:33:12 UTC (rev 23330)
@@ -25,7 +25,7 @@
<!-- Filter for tilt laser shadowing/veiling -->
- <node pkg="laser_scan" type="scan_to_cloud" respawn="true" machine="three" name="tilt_shadow_filter">
+ <node pkg="laser_scan" type="scan_to_cloud" respawn="false" machine="three" name="tilt_shadow_filter">
<rosparam command="load" ns="scan_filters" file="$(find laser_scan)/default_scan_shadows.yaml" />
<rosparam command="load" ns="cloud_filters" file="$(find laser_scan)/point_cloud_footprint.filters.yaml" />
<param name="scan_topic" value="tilt_scan" />
@@ -34,7 +34,7 @@
</node>
<!-- Filter for tilt laser scans that hit the body of the robot -->
- <node pkg="robot_self_filter" type="self_filter" name="tilt_laser_self_filter" respawn="true" output="screen">
+ <node pkg="robot_self_filter" type="self_filter" name="tilt_laser_self_filter" respawn="false">
<!-- The topic for the input cloud -->
<remap from="cloud_in" to="tilt_scan_shadow_filtered" />
@@ -89,7 +89,7 @@
</node>
<!-- Filter for base laser shadowing/veiling -->
- <node pkg="laser_scan" type="scan_to_cloud" respawn="true" machine="three" name="base_shadow_filter" >
+ <node pkg="laser_scan" type="scan_to_cloud" respawn="false" machine="three" name="base_shadow_filter" >
<rosparam command="load" ns="scan_filters" file="$(find laser_scan)/default_scan_shadows.yaml" />
<rosparam command="load" ns="cloud_filters" file="$(find laser_scan)/point_cloud_footprint.filters.yaml" />
<param name="scan_topic" value="base_scan" />
@@ -97,7 +97,7 @@
</node>
<!-- Filter for base laser scans that hit the body of the robot -->
- <node pkg="robot_self_filter" type="self_filter" name="base_laser_self_filter" respawn="true" output="screen">
+ <node pkg="robot_self_filter" type="self_filter" name="base_laser_self_filter" respawn="false">
<!-- The topic for the input cloud -->
<remap from="cloud_in" to="base_scan_shadow_filtered" />
@@ -150,7 +150,7 @@
</node>
<!-- Laser scan assembler for tilt laser -->
- <node pkg="point_cloud_assembler" type="laser_scan_assembler_srv" name="laser_scan_assembler" respawn="true">
+ <node pkg="point_cloud_assembler" type="laser_scan_assembler_srv" name="laser_scan_assembler" respawn="false">
<remap from="scan_in" to="tilt_scan"/>
<rosparam command="load" ns="filters" file="$(find laser_scan)/default_scan_shadows.yaml" />
<param name="tf_cache_time_secs" type="double" value="10.0" />
@@ -161,7 +161,7 @@
</node>
<!-- Setup for detecting the plug on the base -->
- <node pkg="point_cloud_assembler" type="laser_scan_assembler_srv" name="plugs_laser_scan_assembler" respawn="true">
+ <node pkg="point_cloud_assembler" type="laser_scan_assembler_srv" name="plugs_laser_scan_assembler" respawn="false">
<remap from="scan_in" to="tilt_scan"/>
<param name="tf_cache_time_secs" type="double" value="10.0" />
<param name="max_scans" type="int" value="400" />
@@ -170,7 +170,7 @@
<param name="downsample_factor" type="int" value="2" />
</node>
- <node pkg="point_cloud_assembler" type="point_cloud_snapshotter" name="plugs_snapshotter" respawn="true">
+ <node pkg="point_cloud_assembler" type="point_cloud_snapshotter" name="plugs_snapshotter" respawn="false">
<remap from="laser_scanner_signal" to="laser_tilt_controller/laser_scanner_signal"/>
<remap from="build_cloud" to="plugs_laser_scan_assembler/build_cloud" />
<remap from="full_cloud" to="plug_snapshot_cloud" />
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <tpr...@us...> - 2009-08-29 03:34:44
|
Revision: 23331
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23331&view=rev
Author: tpratkanis
Date: 2009-08-29 03:34:34 +0000 (Sat, 29 Aug 2009)
Log Message:
-----------
Stub out handle detection because it fails randomly, also add debug info.
Modified Paths:
--------------
pkg/trunk/demos/door_demos_gazebo/launch/pr2_door_test.launch
pkg/trunk/highlevel/doors/doors_core/test/test_executive.cpp
Modified: pkg/trunk/demos/door_demos_gazebo/launch/pr2_door_test.launch
===================================================================
--- pkg/trunk/demos/door_demos_gazebo/launch/pr2_door_test.launch 2009-08-29 03:33:12 UTC (rev 23330)
+++ pkg/trunk/demos/door_demos_gazebo/launch/pr2_door_test.launch 2009-08-29 03:34:34 UTC (rev 23331)
@@ -1,7 +1,9 @@
<launch>
<include file="$(find door_demos_gazebo)/launch/pr2_and_door.launch"/>
<include file="$(find milestone2_actions)/milestone2.launch" />
- <node pkg="doors_core" type="test_executive" output="screen" />
+ <node pkg="doors_core" type="test_executive" output="screen">
+ <param name="stub_handle_detector" value="true" type="bool" />
+ </node>
<!--<node pkg="rosrecord" type="rosrecord" args=" -f door_demos_test.bag " />-->
<test test-name="door_demos_test_open_door" pkg="door_demos_gazebo" type="door_demo_test_exec_test.py" time-limit="1000" retry="2" />
Modified: pkg/trunk/highlevel/doors/doors_core/test/test_executive.cpp
===================================================================
--- pkg/trunk/highlevel/doors/doors_core/test/test_executive.cpp 2009-08-29 03:33:12 UTC (rev 23330)
+++ pkg/trunk/highlevel/doors/doors_core/test/test_executive.cpp 2009-08-29 03:34:34 UTC (rev 23331)
@@ -54,7 +54,13 @@
using namespace std;
using namespace door_functions;
+FILE* output = NULL;
+void writeString(std::string txt) {
+ if (output)
+ fprintf(output, "%s\n", txt.c_str());
+ ROS_INFO("[Test Executive] %s", txt.c_str());
+}
// -----------------------------------
@@ -69,8 +75,15 @@
ros::Node node("test_executive");
boost::thread* thread;
- ROS_INFO("Test executive started");
+ writeString("Test executive started");
+ bool use_stub = false;
+ node.param<bool>("~stub_handle_detector", use_stub, use_stub);
+
+ if (use_stub) {
+ writeString("Using the stub door handle detector.");
+ }
+
door_msgs::Door prior_door;
prior_door.frame_p1.x = 1.0;
prior_door.frame_p1.y = -0.5;
@@ -109,7 +122,7 @@
Duration timeout_medium = Duration().fromSec(10.0);
Duration timeout_long = Duration().fromSec(40.0);
- ROS_INFO("Starting acion clients");
+ writeString("Starting action clients");
robot_actions::ActionClient<std_msgs::Empty, robot_actions::NoArgumentsActionState, std_msgs::Empty> tuck_arm("safety_tuck_arms");
robot_actions::ActionClient<pr2_robot_actions::SwitchControllers, pr2_robot_actions::SwitchControllersState, std_msgs::Empty> switch_controllers("switch_controllers");
robot_actions::ActionClient<door_msgs::Door, pr2_robot_actions::DoorActionState, door_msgs::Door> detect_door("detect_door");
@@ -127,61 +140,94 @@
door_msgs::Door backup_door;
std::ostringstream os; os << prior_door;
- ROS_INFO("before %s", os.str().c_str());
+ writeString("before " + os.str());
// tuck arm
- ROS_INFO("begining tuck arms");
+ writeString("begining tuck arms");
switchlist.start_controllers.clear(); switchlist.stop_controllers.clear();
switchlist.start_controllers.push_back("r_arm_joint_trajectory_controller");
if (switch_controllers.execute(switchlist, empty, timeout_medium) != robot_actions::SUCCESS) return -1;
if (tuck_arm.execute(empty, empty, timeout_medium) != robot_actions::SUCCESS) return -1;
- ROS_INFO("done tuck arms");
+ writeString("done tuck arms");
// detect door
- ROS_INFO("begining detect door");
+ writeString("begining detect door");
door_msgs::Door res_detect_door;
switchlist.start_controllers.clear(); switchlist.stop_controllers.clear();
switchlist.start_controllers.push_back("laser_tilt_controller");
if (switch_controllers.execute(switchlist, empty, timeout_short) != robot_actions::SUCCESS) return -1;
- ROS_INFO("door detect");
+ writeString("door detect");
while (detect_door.execute(prior_door, tmp_door, timeout_long) != robot_actions::SUCCESS);
res_detect_door = tmp_door;
std::ostringstream os2; os2 << res_detect_door;
- ROS_INFO("detect door %s", os2.str().c_str());
+ writeString("detect door " + os2.str());
// detect handle if door is latched
- ROS_INFO("begining detect handle");
+ writeString("begining detect handle");
door_msgs::Door res_detect_handle;
+ // hard coded stub
+ if (use_stub) {
+ res_detect_handle.header.stamp = ros::Time::now();
+ res_detect_handle.header.frame_id = "odom_combined";
+ res_detect_handle.frame_p1.x = 1.20534;
+ res_detect_handle.frame_p1.y = -0.344458;
+ res_detect_handle.frame_p1.z = 0;
+ res_detect_handle.frame_p2.x = 1.20511;
+ res_detect_handle.frame_p2.y = 0.651193;
+ res_detect_handle.frame_p2.z = 0;
+ res_detect_handle.door_p1.x = 1.20587;
+ res_detect_handle.door_p1.y = -0.344458;
+ res_detect_handle.door_p1.z = 0;
+ res_detect_handle.door_p2.x = 1.20511;
+ res_detect_handle.door_p2.y = 0.651193;
+ res_detect_handle.door_p2.z = 0;
+ res_detect_handle.handle.x = 1.16614;
+ res_detect_handle.handle.y = -0.114199;
+ res_detect_handle.handle.z = 0.853391;
+ res_detect_handle.travel_dir.x = 1;
+ res_detect_handle.travel_dir.y = 0.000233471;
+ res_detect_handle.travel_dir.z = 0;
+ res_detect_handle.latch_state = 2;
+ res_detect_handle.hinge = 2;
+ res_detect_handle.rot_dir = 2;
+ }
+
bool open_by_pushing = false;
if (res_detect_door.latch_state == door_msgs::Door::UNLATCHED)
open_by_pushing = true;
if (!open_by_pushing){
- ROS_INFO("Not opening by pushing - pointing head at handle and detecting");
+ writeString("Not opening by pushing - pointing head at handle and detecting");
switchlist.start_controllers.clear(); switchlist.stop_controllers.clear();
switchlist.start_controllers.push_back("head_controller");
switchlist.start_controllers.push_back("head_pan_joint_position_controller");
switchlist.start_controllers.push_back("head_tilt_joint_position_controller");
if (switch_controllers.execute(switchlist, empty, timeout_short) != robot_actions::SUCCESS) return -1;
- while (detect_handle.execute(res_detect_door, tmp_door, timeout_long) != robot_actions::SUCCESS);
- res_detect_handle = tmp_door;
+ if (!use_stub) {
+ writeString("Using Real Handle Detector");
+ while (detect_handle.execute(res_detect_door, tmp_door, timeout_long) != robot_actions::SUCCESS);
+ res_detect_handle = tmp_door;
+ } else {
+ writeString("Using Stub Handle Detector");
+ }
std::ostringstream os3; os3 << res_detect_handle;
- ROS_INFO("detect handle %s", os3.str().c_str());
+ writeString("detect handle " + os3.str());
}
// approach door
geometry_msgs::PoseStamped goal_msg;
tf::poseStampedTFToMsg(getRobotPose(res_detect_door, -0.6), goal_msg);
- ROS_INFO("move to pose %f, %f, %f", goal_msg.pose.position.x, goal_msg.pose.position.y, goal_msg.pose.position.z);
+ std::ostringstream target; target << goal_msg.pose.position.x << ", " << goal_msg.pose.position.y << ", " << goal_msg.pose.position.z;
+ writeString("move to pose " + target.str() + ".");
switchlist.start_controllers.clear(); switchlist.stop_controllers.clear();
if (switch_controllers.execute(switchlist, empty, timeout_short) != robot_actions::SUCCESS) return -1;
- while (move_base_local.execute(goal_msg, goal_msg) != robot_actions::SUCCESS) {cout << "re-trying move base local" << endl;};
- ROS_INFO("door approach finished");
+ while (move_base_local.execute(goal_msg, goal_msg) != robot_actions::SUCCESS) {writeString("re-trying move base local");};
+ writeString("door approach finished");
// touch door
if (open_by_pushing){
- ROS_INFO("Open by pushing");
+ writeString("Open by pushing");
switchlist.start_controllers.clear(); switchlist.stop_controllers.clear();
switchlist.stop_controllers.push_back("r_arm_joint_trajectory_controller");
switchlist.start_controllers.push_back("r_gripper_effort_controller");
@@ -191,10 +237,10 @@
switchlist.start_controllers.push_back("r_arm_constraint_cartesian_wrench_controller");
if (switch_controllers.execute(switchlist, empty, timeout_short) != robot_actions::SUCCESS) return -1;
if (touch_door.execute(res_detect_door, tmp_door, timeout_long) != robot_actions::SUCCESS) return -1;
- ROS_INFO("Door touched");
+ writeString("Door touched");
// push door in separate thread
- ROS_INFO("Open by pushing in seperate thread");
+ writeString("Open by pushing in seperate thread");
switchlist.start_controllers.clear(); switchlist.stop_controllers.clear();
switchlist.stop_controllers.push_back("r_arm_constraint_cartesian_trajectory_controller");
if (switch_controllers.execute(switchlist, empty, timeout_short) != robot_actions::SUCCESS) return -1;
@@ -203,7 +249,7 @@
&push_door, res_detect_door, tmp_door, timeout_long));
}
else{
- ROS_INFO("Open by grasping and unlatching");
+ writeString("Open by grasping and unlatching");
// grasp handle
switchlist.start_controllers.clear(); switchlist.stop_controllers.clear();
switchlist.stop_controllers.push_back("r_arm_joint_trajectory_controller");
@@ -215,7 +261,7 @@
if (switch_controllers.execute(switchlist, empty, timeout_short) != robot_actions::SUCCESS) return -1;
if (grasp_handle.execute(res_detect_handle, tmp_door, timeout_long) != robot_actions::SUCCESS) return -1;
- ROS_INFO("Unlatching");
+ writeString("Unlatching");
// unlatch handle
switchlist.start_controllers.clear(); switchlist.stop_controllers.clear();
switchlist.stop_controllers.push_back("r_arm_constraint_cartesian_trajectory_controller");
@@ -225,7 +271,7 @@
if (switch_controllers.execute(switchlist, empty, timeout_short) != robot_actions::SUCCESS) return -1;
if (unlatch_handle.execute(res_detect_handle, tmp_door, timeout_long) != robot_actions::SUCCESS) return -1;
- ROS_INFO("Open goor in seprate thread");
+ writeString("Open goor in seprate thread");
// open door in separate thread
switchlist.start_controllers.clear(); switchlist.stop_controllers.clear();
if (switch_controllers.execute(switchlist, empty, timeout_short) != robot_actions::SUCCESS) return -1;
@@ -241,14 +287,14 @@
if (switch_controllers.execute(switchlist, empty, timeout_short) != robot_actions::SUCCESS) return -1;
std::ostringstream os4; os4 << res_detect_handle;
- ROS_INFO("Moving through door with door message %s", os4.str().c_str());
+ writeString("Moving through door with door message " + os4.str());
if (move_base_door.execute(res_detect_door, tmp_door) != robot_actions::SUCCESS)
{
move_thru_success = false;
backup_door = res_detect_door;
};
- ROS_INFO("Preempt openning thread and join");
+ writeString("Preempt openning thread and join");
// preempt open/push door
if (open_by_pushing)
push_door.preempt();
@@ -260,7 +306,7 @@
// release handle
if (!open_by_pushing){
- ROS_INFO("Releasing handle");
+ writeString("Releasing handle");
switchlist.start_controllers.clear(); switchlist.stop_controllers.clear();
switchlist.stop_controllers.push_back("r_arm_cartesian_tff_controller");
switchlist.start_controllers.push_back("r_arm_constraint_cartesian_trajectory_controller");
@@ -271,7 +317,7 @@
}
// tuck arm
- ROS_INFO("Tucking arm");
+ writeString("Tucking arm");
switchlist.start_controllers.clear(); switchlist.stop_controllers.clear();
switchlist.stop_controllers.push_back("r_arm_constraint_cartesian_trajectory_controller");
switchlist.stop_controllers.push_back("r_arm_constraint_cartesian_pose_controller");
@@ -284,7 +330,7 @@
if(!move_thru_success)
{
std::ostringstream os5; os5 << backup_door;
- ROS_INFO("Move through failed, using backup_door %s", os5.str().c_str());
+ writeString("Move through failed, using backup_door " + os5.str());
backup_door.travel_dir.x = -1.0;
backup_door.travel_dir.y = 0.0;
if (move_base_door.execute(backup_door, tmp_door) != robot_actions::SUCCESS)
@@ -294,17 +340,18 @@
// go to the last location
double X = 27.3095662355 + 3 - 25.7, Y = 25.8414441058 - 25.7;
- ROS_INFO("Moving to %f %f", X, Y);
+ std::ostringstream os6; os6 << "Moving to" << X << "," << Y;
+ writeString(os6.str());
goal_msg.header.frame_id = "/odom_combined";
goal_msg.pose.position.x = X;
goal_msg.pose.position.y = Y;
goal_msg.pose.position.z = 0;
switchlist.start_controllers.clear(); switchlist.stop_controllers.clear();
if (switch_controllers.execute(switchlist, empty, timeout_short) != robot_actions::SUCCESS) return -1;
- while (move_base_local.execute(goal_msg, goal_msg) != robot_actions::SUCCESS) {cout << "re-trying move base local" << endl;};
+ while (move_base_local.execute(goal_msg, goal_msg) != robot_actions::SUCCESS) {writeString("re-trying move base local");};
// stop remaining controllers
- ROS_INFO("Stop controllers");
+ writeString("Stop controllers");
switchlist.start_controllers.clear(); switchlist.stop_controllers.clear();
switchlist.stop_controllers.push_back("laser_tilt_controller");
switchlist.stop_controllers.push_back("head_controller");
@@ -312,6 +359,6 @@
switchlist.stop_controllers.push_back("r_arm_joint_trajectory_controller");
if (switch_controllers.execute(switchlist, empty, timeout_medium) != robot_actions::SUCCESS) return -1;
- ROS_INFO("Done");
+ writeString("Done");
return (0);
}
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|
|
From: <ge...@us...> - 2009-08-30 22:14:53
|
Revision: 23356
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23356&view=rev
Author: gerkey
Date: 2009-08-30 22:14:43 +0000 (Sun, 30 Aug 2009)
Log Message:
-----------
Commented out spuriously failing tests, #2678
Modified Paths:
--------------
pkg/trunk/demos/test_2dnav_gazebo/CMakeLists.txt
pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/CMakeLists.txt
Modified: pkg/trunk/demos/test_2dnav_gazebo/CMakeLists.txt
===================================================================
--- pkg/trunk/demos/test_2dnav_gazebo/CMakeLists.txt 2009-08-30 22:09:28 UTC (rev 23355)
+++ pkg/trunk/demos/test_2dnav_gazebo/CMakeLists.txt 2009-08-30 22:14:43 UTC (rev 23356)
@@ -1,29 +1,32 @@
cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-rospack(test_2dnav_gazebo)
+rosbuild_init(test_2dnav_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_2dnav_wg.launch)
-rospack_add_rostest(test_2dnav_empty_rotation.launch)
-rospack_add_rostest(test_2dnav_empty_odom.launch)
-rospack_add_rostest(test_2dnav_empty_diagonal.launch)
-rospack_add_rostest(test_2dnav_empty_axis.launch)
-rospack_add_rostest(test_2dnav_empty_amcl_axis.launch)
-
-endif(CMAKE_SYSTEM_NAME MATCHES "Linux" AND _is32bit)
+# Tests are disabled because of spurious failures, pending move to new
+# machine dedicated to running Gazebo tests.
+#
+## 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_2dnav_wg.launch)
+#rospack_add_rostest(test_2dnav_empty_rotation.launch)
+#rospack_add_rostest(test_2dnav_empty_odom.launch)
+#rospack_add_rostest(test_2dnav_empty_diagonal.launch)
+#rospack_add_rostest(test_2dnav_empty_axis.launch)
+#rospack_add_rostest(test_2dnav_empty_amcl_axis.launch)
+#
+#endif(CMAKE_SYSTEM_NAME MATCHES "Linux" AND _is32bit)
Modified: pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/CMakeLists.txt
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/CMakeLists.txt 2009-08-30 22:09:28 UTC (rev 23355)
+++ pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/CMakeLists.txt 2009-08-30 22:14:43 UTC (rev 23356)
@@ -2,28 +2,31 @@
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
rospack(test_pr2_mechanism_controllers_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_base.launch)
-rospack_add_rostest(test_arm.launch)
-
-rospack_add_rostest(hztest_pr2_mechanism.launch)
-rospack_add_rostest(hztest_rostime.launch)
-rospack_add_rostest(hztest_pr2_odom.launch)
-
-endif(CMAKE_SYSTEM_NAME MATCHES "Linux" AND _is32bit)
+# Tests are disabled because of spurious failures, pending move to new
+# machine dedicated to running Gazebo tests.
+#
+## 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_base.launch)
+#rospack_add_rostest(test_arm.launch)
+#
+#rospack_add_rostest(hztest_pr2_mechanism.launch)
+#rospack_add_rostest(hztest_rostime.launch)
+#rospack_add_rostest(hztest_pr2_odom.launch)
+#
+#endif(CMAKE_SYSTEM_NAME MATCHES "Linux" AND _is32bit)
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <kur...@us...> - 2009-08-31 06:50:49
|
Revision: 23363
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23363&view=rev
Author: kurtkonolige
Date: 2009-08-31 06:50:29 +0000 (Mon, 31 Aug 2009)
Log Message:
-----------
revised imaging_pipeline and associated functionality, big change
Modified Paths:
--------------
pkg/trunk/deprecated/dcam/include/dcam/dcam.h
pkg/trunk/deprecated/dcam/include/dcam/stereodcam.h
pkg/trunk/deprecated/dcam/include/imwin/im3Dwin.h
pkg/trunk/deprecated/dcam/manifest.xml
pkg/trunk/deprecated/dcam/src/acquire/CMakeLists.txt
pkg/trunk/deprecated/dcam/src/nodes/CMakeLists.txt
pkg/trunk/deprecated/dcam/src/nodes/dcam.cpp
pkg/trunk/deprecated/dcam/src/nodes/stereodcam.cpp
pkg/trunk/deprecated/dcam/src/nodes/videre_no_STOC.cpp
pkg/trunk/deprecated/dcam/src/ost/CMakeLists.txt
pkg/trunk/deprecated/dcam/src/ost/ost.cpp
pkg/trunk/stacks/imaging_pipeline/image_proc/include/image.h
pkg/trunk/stacks/imaging_pipeline/image_proc/src/nodes/image_proc.cpp
pkg/trunk/stacks/imaging_pipeline/image_proc/src/proc/image.cpp
pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/CMakeLists.txt
pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/manifest.xml
pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/src/image.cpp
pkg/trunk/vision/pytoro/manifest.xml
pkg/trunk/vision/pytoro/src/py.cpp
pkg/trunk/vision/vslam_demo/scripts/demowg.py
Added Paths:
-----------
pkg/trunk/stacks/imaging_pipeline/image_proc/include/cam_bridge.h
pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/include/cam_bridge_old.h
pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/src/nodes/
pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/src/nodes/stereo_image_proc.cpp
pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/src/nodes/stereoproc.cpp
pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/src/proc/
pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/src/proc/findplane.cpp
pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/src/proc/imageproc.cpp
pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/src/proc/stereoimage.cpp
pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/src/proc/stereolib.c
pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/src/proc/stereolib2.cpp
pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/stereo_image_proc.launch
pkg/trunk/stacks/imaging_pipeline/stereo_msgs/
Removed Paths:
-------------
pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/include/cam_bridge.h
pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/include/image.h
pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/src/findplane.cpp
pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/src/stereolib.c
pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/src/stereolib2.cpp
pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/src/stereoproc.cpp
pkg/trunk/stacks/stereo/stereo_msgs/
Modified: pkg/trunk/deprecated/dcam/include/dcam/dcam.h
===================================================================
--- pkg/trunk/deprecated/dcam/include/dcam/dcam.h 2009-08-31 04:42:23 UTC (rev 23362)
+++ pkg/trunk/deprecated/dcam/include/dcam/dcam.h 2009-08-31 06:50:29 UTC (rev 23363)
@@ -37,7 +37,7 @@
#include <stdexcept>
#include "dc1394/dc1394.h"
-#include "image.h"
+#include "stereoimage.h"
// Pixel raw modes
// Videre stereo:
Modified: pkg/trunk/deprecated/dcam/include/dcam/stereodcam.h
===================================================================
--- pkg/trunk/deprecated/dcam/include/dcam/stereodcam.h 2009-08-31 04:42:23 UTC (rev 23362)
+++ pkg/trunk/deprecated/dcam/include/dcam/stereodcam.h 2009-08-31 06:50:29 UTC (rev 23363)
@@ -44,7 +44,6 @@
//
#include <stdexcept>
-#include "image.h"
#include "dcam.h"
typedef enum
Modified: pkg/trunk/deprecated/dcam/include/imwin/im3Dwin.h
===================================================================
--- pkg/trunk/deprecated/dcam/include/imwin/im3Dwin.h 2009-08-31 04:42:23 UTC (rev 23362)
+++ pkg/trunk/deprecated/dcam/include/imwin/im3Dwin.h 2009-08-31 06:50:29 UTC (rev 23363)
@@ -63,7 +63,7 @@
#include "FL/gl.h"
#include <GL/glut.h>
#include <GL/glu.h>
-#include "image.h"
+#include "stereoimage.h"
using namespace std;
Modified: pkg/trunk/deprecated/dcam/manifest.xml
===================================================================
--- pkg/trunk/deprecated/dcam/manifest.xml 2009-08-31 04:42:23 UTC (rev 23362)
+++ pkg/trunk/deprecated/dcam/manifest.xml 2009-08-31 06:50:29 UTC (rev 23363)
@@ -8,7 +8,6 @@
</export>
<depend package="libdc1394v2"/>
<depend package="opencv_latest"/>
- <depend package="stereo_image_proc"/>
<depend package="roscpp"/>
<depend package="std_msgs"/>
<depend package="std_srvs"/>
@@ -16,6 +15,8 @@
<depend package="diagnostic_updater"/>
<depend package="rospy"/>
<depend package="stereo_msgs"/>
+ <depend package="image_proc"/>
+ <depend package="stereo_image_proc"/>
<rosdep name="fltk"/>
<url>http://www.ros.org/wiki/dcam</url>
Modified: pkg/trunk/deprecated/dcam/src/acquire/CMakeLists.txt
===================================================================
--- pkg/trunk/deprecated/dcam/src/acquire/CMakeLists.txt 2009-08-31 04:42:23 UTC (rev 23362)
+++ pkg/trunk/deprecated/dcam/src/acquire/CMakeLists.txt 2009-08-31 06:50:29 UTC (rev 23363)
@@ -1,7 +1,7 @@
rospack_add_executable(acquire acquire.cpp)
rospack_add_compile_flags(acquire -msse3)
-target_link_libraries(acquire dcam fltk)
+target_link_libraries(acquire dcam imageproc stereoproc fltk)
rospack_add_executable(stacquire stacquire.cpp)
rospack_add_compile_flags(stacquire -msse3)
-target_link_libraries(stacquire dcam imwin fltk fltk_gl glut)
+target_link_libraries(stacquire dcam imageproc stereoproc imwin fltk fltk_gl glut)
Modified: pkg/trunk/deprecated/dcam/src/nodes/CMakeLists.txt
===================================================================
--- pkg/trunk/deprecated/dcam/src/nodes/CMakeLists.txt 2009-08-31 04:42:23 UTC (rev 23362)
+++ pkg/trunk/deprecated/dcam/src/nodes/CMakeLists.txt 2009-08-31 06:50:29 UTC (rev 23363)
@@ -1,14 +1,14 @@
rospack_add_executable(dcam_exe dcam.cpp)
rospack_add_compile_flags(dcam_exe -msse3)
-target_link_libraries(dcam_exe dcam)
+target_link_libraries(dcam_exe dcam imageproc stereoproc)
SET_TARGET_PROPERTIES(dcam_exe PROPERTIES OUTPUT_NAME dcam)
rospack_add_executable(stereodcam stereodcam.cpp)
rospack_add_compile_flags(stereodcam -msse3)
-target_link_libraries(stereodcam dcam)
+target_link_libraries(stereodcam dcam imageproc stereoproc)
rospack_add_executable(videre_no_STOC videre_no_STOC.cpp)
rospack_add_compile_flags(videre_no_STOC -msse3)
-target_link_libraries(videre_no_STOC dcam)
+target_link_libraries(videre_no_STOC dcam imageproc stereoproc)
rospack_add_executable(check_params check_params.cpp)
Modified: pkg/trunk/deprecated/dcam/src/nodes/dcam.cpp
===================================================================
--- pkg/trunk/deprecated/dcam/src/nodes/dcam.cpp 2009-08-31 04:42:23 UTC (rev 23362)
+++ pkg/trunk/deprecated/dcam/src/nodes/dcam.cpp 2009-08-31 06:50:29 UTC (rev 23363)
@@ -35,7 +35,7 @@
#include <cstdio>
#include "dcam/dcam.h"
-#include "cam_bridge.h"
+#include "cam_bridge_old.h"
#include "ros/node.h"
#include "sensor_msgs/Image.h"
Modified: pkg/trunk/deprecated/dcam/src/nodes/stereodcam.cpp
===================================================================
--- pkg/trunk/deprecated/dcam/src/nodes/stereodcam.cpp 2009-08-31 04:42:23 UTC (rev 23362)
+++ pkg/trunk/deprecated/dcam/src/nodes/stereodcam.cpp 2009-08-31 06:50:29 UTC (rev 23363)
@@ -134,7 +134,7 @@
#include "ros/node.h"
#include "stereo_msgs/RawStereo.h"
-#include "cam_bridge.h"
+#include "cam_bridge_old.h"
#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/update_functions.h>
Modified: pkg/trunk/deprecated/dcam/src/nodes/videre_no_STOC.cpp
===================================================================
--- pkg/trunk/deprecated/dcam/src/nodes/videre_no_STOC.cpp 2009-08-31 04:42:23 UTC (rev 23362)
+++ pkg/trunk/deprecated/dcam/src/nodes/videre_no_STOC.cpp 2009-08-31 06:50:29 UTC (rev 23363)
@@ -74,7 +74,7 @@
#include "dcam/dcam.h"
#include "dcam/stereodcam.h"
-#include "cam_bridge.h"
+#include "cam_bridge_old.h"
#include "ros/node.h"
Modified: pkg/trunk/deprecated/dcam/src/ost/CMakeLists.txt
===================================================================
--- pkg/trunk/deprecated/dcam/src/ost/CMakeLists.txt 2009-08-31 04:42:23 UTC (rev 23362)
+++ pkg/trunk/deprecated/dcam/src/ost/CMakeLists.txt 2009-08-31 06:50:29 UTC (rev 23363)
@@ -1,6 +1,6 @@
rospack_add_executable(ost ost.cpp stereogui.cpp calwin.cpp lodepng.cpp ostpng.cpp)
rospack_add_executable(v3d v3d.cpp)
rospack_add_compile_flags(ost -msse3)
-target_link_libraries(ost dcam imwin fltk fltk_gl glut)
+target_link_libraries(ost dcam imageproc stereoproc imwin fltk fltk_gl glut)
target_link_libraries(v3d imwin fltk fltk_gl glut)
rospack_add_compile_flags(v3d -msse3)
\ No newline at end of file
Modified: pkg/trunk/deprecated/dcam/src/ost/ost.cpp
===================================================================
--- pkg/trunk/deprecated/dcam/src/ost/ost.cpp 2009-08-31 04:42:23 UTC (rev 23362)
+++ pkg/trunk/deprecated/dcam/src/ost/ost.cpp 2009-08-31 06:50:29 UTC (rev 23363)
@@ -111,7 +111,7 @@
bool isRefresh; // refresh the current stereo image display
// plane object and parameters
-FindPlanes planeObj;
+//FindPlanes planeObj;
float planeParams[4];
float planeThresh = 0.01; // 1 cm inlier threshold
@@ -456,6 +456,7 @@
isPlanar = false;
if (isPlanar)
{
+#if 0
int n,nn;
tt0 = get_ms();
// get first largest plane
@@ -470,6 +471,7 @@
// printf("Planar time: %d ms\n", (int)(tt1-tt0));
printf("Found plane %f %f %f %f with %d/%d inliers\n",
planeParams[0], planeParams[1], planeParams[2], planeParams[3], n, nn);
+#endif
}
// check for 3D window
Added: pkg/trunk/stacks/imaging_pipeline/image_proc/include/cam_bridge.h
===================================================================
--- pkg/trunk/stacks/imaging_pipeline/image_proc/include/cam_bridge.h (rev 0)
+++ pkg/trunk/stacks/imaging_pipeline/image_proc/include/cam_bridge.h 2009-08-31 06:50:29 UTC (rev 23363)
@@ -0,0 +1,153 @@
+
+/*********************************************************************
+* 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.
+*********************************************************************/
+
+#ifndef CAM_BRIDGE_H
+#define CAM_BRIDGE_H
+
+namespace cam_bridge
+{
+
+ color_coding_t GetColorCoding(const sensor_msgs::Image& msg)
+ {
+ using namespace sensor_msgs::image_encodings;
+
+ if (msg.encoding == MONO8) return COLOR_CODING_MONO8;
+ if (msg.encoding == MONO16) return COLOR_CODING_MONO16;
+ if (msg.encoding == BAYER_RGGB8) return COLOR_CODING_BAYER8_RGGB;
+ if (msg.encoding == BAYER_BGGR8) return COLOR_CODING_BAYER8_BGGR;
+ if (msg.encoding == BAYER_GBRG8) return COLOR_CODING_BAYER8_GBRG;
+ if (msg.encoding == BAYER_GRBG8) return COLOR_CODING_BAYER8_GRBG;
+ if (msg.encoding == RGB8) return COLOR_CODING_RGB8;
+ if (msg.encoding == RGBA8) return COLOR_CODING_RGBA8;
+
+ ROS_ERROR("cam_bridge: Encoding '%s' is not supported", msg.encoding.c_str());
+ return COLOR_CODING_NONE;
+ }
+
+ std::string ColorCodingToImageEncoding(color_coding_t coding)
+ {
+ using namespace sensor_msgs::image_encodings;
+
+ if (coding == COLOR_CODING_MONO8) return MONO8;
+ if (coding == COLOR_CODING_MONO16) return MONO16;
+ if (coding == COLOR_CODING_BAYER8_RGGB) return BAYER_RGGB8;
+ if (coding == COLOR_CODING_BAYER8_BGGR) return BAYER_BGGR8;
+ if (coding == COLOR_CODING_BAYER8_GBRG) return BAYER_GBRG8;
+ if (coding == COLOR_CODING_BAYER8_GRBG) return BAYER_GRBG8;
+ if (coding == COLOR_CODING_RGB8) return RGB8;
+ if (coding == COLOR_CODING_RGBA8) return RGBA8;
+
+ ROS_WARN("cam_bridge: Don't know image encoding string for color coding %i", coding);
+ return "";
+ }
+
+ void extractImage(std::vector<uint8_t> data, size_t* sz, uint8_t **d)
+ {
+ size_t new_size = data.size();
+
+ if (*sz < new_size)
+ {
+ MEMFREE(*d);
+ *d = (uint8_t *)MEMALIGN(new_size);
+ *sz = new_size;
+ }
+ memcpy((char*)(*d), (char*)(&data[0]), new_size);
+ }
+ void extractImage(std::vector<uint8_t> data, size_t* sz, int16_t **d)
+ {
+ size_t new_size = data.size();
+
+ if (*sz < new_size)
+ {
+ MEMFREE(*d);
+ *d = (int16_t *)MEMALIGN(new_size);
+ *sz = new_size;
+ }
+ memcpy((char*)(*d), (char*)(&data[0]), new_size);
+ }
+
+
+ void RawToCamData(const sensor_msgs::Image& im_msg,
+ const sensor_msgs::CameraInfo& info_msg,
+ uint8_t type, cam::ImageData* im)
+ {
+
+ im->imRawType = COLOR_CODING_NONE;
+ im->imType = COLOR_CODING_NONE;
+ im->imColorType = COLOR_CODING_NONE;
+ im->imRectType = COLOR_CODING_NONE;
+ im->imRectColorType = COLOR_CODING_NONE;
+
+ if (type == cam::IMAGE_RAW)
+ {
+ extractImage(im_msg.data, &im->imRawSize, &im->imRaw);
+ im->imRawType = GetColorCoding(im_msg);
+ }
+ else if (type == cam::IMAGE)
+ {
+ extractImage(im_msg.data, &im->imSize, &im->im);
+ im->imType = COLOR_CODING_MONO8;
+ }
+ else if (type == cam::IMAGE_COLOR)
+ {
+ extractImage(im_msg.data, &im->imColorSize, &im->imColor);
+ im->imColorType = GetColorCoding(im_msg);
+ }
+ else if (type == cam::IMAGE_RECT)
+ {
+ extractImage(im_msg.data, &im->imRectSize, &im->imRect);
+ im->imRectType = GetColorCoding(im_msg);
+ }
+ else if (type == cam::IMAGE_RECT_COLOR)
+ {
+ extractImage(im_msg.data, &im->imRectColorSize, &im->imRectColor);
+ im->imRectColorType = GetColorCoding(im_msg);
+ }
+
+ // @todo: this OK when right image empty (disparity image requested instead)?
+ im->imHeight = im_msg.height;
+ im->imWidth = im_msg.width;
+
+ // @todo: possible to NOT have rectification?
+ memcpy((char*)(im->D), (char*)(&info_msg.D[0]), 5*sizeof(double));
+ memcpy((char*)(im->K), (char*)(&info_msg.K[0]), 9*sizeof(double));
+ memcpy((char*)(im->R), (char*)(&info_msg.R[0]), 9*sizeof(double));
+ memcpy((char*)(im->P), (char*)(&info_msg.P[0]), 12*sizeof(double));
+ im->hasRectification = true;
+ }
+}
+
+
+#endif // CAM_BRIDGE_H
Modified: pkg/trunk/stacks/imaging_pipeline/image_proc/include/image.h
===================================================================
--- pkg/trunk/stacks/imaging_pipeline/image_proc/include/image.h 2009-08-31 04:42:23 UTC (rev 23362)
+++ pkg/trunk/stacks/imaging_pipeline/image_proc/include/image.h 2009-08-31 06:50:29 UTC (rev 23363)
@@ -62,10 +62,8 @@
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
-#include <sensor_msgs/fill_image.h>
-#include <sensor_msgs/CameraInfo.h>
+//#include <sensor_msgs/fill_image.h>
-
// alignment on allocation
#ifdef __APPLE__
#define MEMALIGN(x) malloc(x)
@@ -250,265 +248,8 @@
int width, int height, color_conversion_t colorAlg);
};
-
-#if 0
- // stereo data structure
-
- class StereoData
- {
- public:
- StereoData();
- ~StereoData();
-
- // image parameters
- int imWidth;
- int imHeight;
- void setSize(int width, int height); // sets individual image sizes too
-
- // left and right image data
- ImageData *imLeft;
- ImageData *imRight;
-
- // rectification
- bool hasRectification;
-
- // disparity data
- int16_t *imDisp; // disparity image, negative and zero are invalid pixels
- size_t imDispSize; // size of image in bytes
- int dpp; // disparity units per pixel, e.g., 16 is 1/16 pixel per disparity
- bool hasDisparity; // true if disparity present
- int numDisp; // number of search disparities, in pixels
- int offx; // x offset of disparity search
-
- bool setHoropter(int offset); // set horopter offset
- bool setNumDisp(int ndisp); // set number of disparities
-
- // Color conversion:
- void doBayerColorRGB();
- void doBayerMono();
-
- // disparity and rectification functions
- bool doRectify(); // rectify images
- bool doDisparity(stereo_algorithm_t alg=NORMAL_ALGORITHM); // calculate disparity image
- bool doSpeckle(); // speckle filter post-processing, automatically applied by doDisparity
- bool doCalcPts(bool isArray = false); // calculate 3D points
- bool calcPt(int x, int y, float *fx, float *fy, float *fz); // single point
- bool setRangeMax(double thresh);
- bool setRangeMin(double thresh);
-
- // valid stereo data rectangle
- int imDtop, imDleft;
- int imDwidth, imDheight;
- void setDispOffsets(); // reset them, based on stereo processing params
-
- // point cloud data
- // NOTE: imPts buffer should be 16-byte aligned
- // imPts elements will have the form of a pt_xyza_t for a pt array
- float *imPts; // points, 3xN floats for vector version, 4xN for array version
- // for isPtArray = true, these next two are not needed
- int *imCoords; // image coordinates of the point cloud points, 2xN ints
- uint8_t *imPtsColor; // color vector corresponding to points, RGB
- size_t imPtsSize; // size of array in bytes, for storage manipulation
- int numPts; // number of points in array
- bool isPtArray; // true if the points are an image array, z=0.0 for no point
- pt_xyza_t *imPtArray() { return (pt_xyza_t *)imPts; }
-
- // external parameters for undistorted images
- double T[3]; // pose of right camera in left camera coords
- double Om[3]; // rotation vector
-
- // reprojection matrix
- double RP[16];
-
- // buffers
- void releaseBuffers(); // get rid of all buffers
-
- // parameters
- void extractParams(char *params, bool store = false); // extracts params from string and puts in vars
- // optionally stores into image object
- char *createParams(bool store = false); // takes parameters and puts them into a string
- // optionally stores into image object
-
- // stereo processing params
- int corrSize; // correlation window size, assumed square
- int filterSize; // size of prefilter window, assumed square (0 if none)
- int horOffset; // horopter offset
-
- // filter thresholds
- int textureThresh; // percent
- int uniqueThresh; // percent
- int smoothThresh; // percent
- int speckleDiff; // max difference between adjacent disparities in a region
- int speckleRegionSize; // minimum size of region to be not a speckle
- double rangeMax; // max Z value returned in pt cloud
- double rangeMin; // max Z value returned in pt cloud
- bool unique_check;
-
- bool setTextureThresh(int thresh);
- bool setUniqueThresh(int thresh);
- bool setSmoothnessThresh(int thresh);
- bool setSpeckleDiff(int diff);
- bool setSpeckleRegionSize(int size);
- bool setCorrSize(int size);
- bool setUniqueCheck(bool val);
-
- // buffers for stereo
- uint8_t *buf, *flim, *frim;
- int maxxim, maxyim, maxdlen, maxcorr; // for changing buffer sizes
-
- private:
- // buffers for speckle filter
- uint8_t *rbuf;
- uint32_t *lbuf, *wbuf;
-
- };
-
-
- //
- // Plane finding class
- //
-
- class FindPlanes
- {
- public:
- FindPlanes();
- ~FindPlanes();
-
- // put points
- // skip interval is decimation for speed
- void SetPointCloud(pt_xyza_t *pts, int n, int skip=1);
-
- // find a plane, return its parameters and (decimated) inlier count
- int FindPlane(float *pparams, float thresh, int tries);
-
- // set all plane inliers to an index, return number found
- // also resets decimated point cloud
- int IndexPlane(int ind, float thresh, float *pparams);
-
- private:
- pt_xyza_t *pts3d; // input vector of points
- int n_pts3d; // number of points
- pt_xyza_t *pts3d_dec; // decimated points
- int n_pts3d_dec;
- };
-#endif
-
}
-namespace cam_bridge
-{
- color_coding_t GetColorCoding(const sensor_msgs::Image& msg)
- {
- using namespace sensor_msgs::image_encodings;
-
- if (msg.encoding == MONO8) return COLOR_CODING_MONO8;
- if (msg.encoding == MONO16) return COLOR_CODING_MONO16;
- if (msg.encoding == BAYER_RGGB8) return COLOR_CODING_BAYER8_RGGB;
- if (msg.encoding == BAYER_BGGR8) return COLOR_CODING_BAYER8_BGGR;
- if (msg.encoding == BAYER_GBRG8) return COLOR_CODING_BAYER8_GBRG;
- if (msg.encoding == BAYER_GRBG8) return COLOR_CODING_BAYER8_GRBG;
- if (msg.encoding == RGB8) return COLOR_CODING_RGB8;
- if (msg.encoding == RGBA8) return COLOR_CODING_RGBA8;
-
- ROS_ERROR("cam_bridge: Encoding '%s' is not supported", msg.encoding.c_str());
- return COLOR_CODING_NONE;
- }
-
- std::string ColorCodingToImageEncoding(color_coding_t coding)
- {
- using namespace sensor_msgs::image_encodings;
-
- if (coding == COLOR_CODING_MONO8) return MONO8;
- if (coding == COLOR_CODING_MONO16) return MONO16;
- if (coding == COLOR_CODING_BAYER8_RGGB) return BAYER_RGGB8;
- if (coding == COLOR_CODING_BAYER8_BGGR) return BAYER_BGGR8;
- if (coding == COLOR_CODING_BAYER8_GBRG) return BAYER_GBRG8;
- if (coding == COLOR_CODING_BAYER8_GRBG) return BAYER_GRBG8;
- if (coding == COLOR_CODING_RGB8) return RGB8;
- if (coding == COLOR_CODING_RGBA8) return RGBA8;
-
- ROS_WARN("cam_bridge: Don't know image encoding string for color coding %i", coding);
- return "";
- }
-
- void extractImage(std::vector<uint8_t> data, size_t* sz, uint8_t **d)
- {
- size_t new_size = data.size();
-
- if (*sz < new_size)
- {
- MEMFREE(*d);
- *d = (uint8_t *)MEMALIGN(new_size);
- *sz = new_size;
- }
- memcpy((char*)(*d), (char*)(&data[0]), new_size);
- }
- void extractImage(std::vector<uint8_t> data, size_t* sz, int16_t **d)
- {
- size_t new_size = data.size();
-
- if (*sz < new_size)
- {
- MEMFREE(*d);
- *d = (int16_t *)MEMALIGN(new_size);
- *sz = new_size;
- }
- memcpy((char*)(*d), (char*)(&data[0]), new_size);
- }
-
-
- void RawToCamData(const sensor_msgs::Image& im_msg,
- const sensor_msgs::CameraInfo& info_msg,
- uint8_t type, cam::ImageData* im)
- {
-
- im->imRawType = COLOR_CODING_NONE;
- im->imType = COLOR_CODING_NONE;
- im->imColorType = COLOR_CODING_NONE;
- im->imRectType = COLOR_CODING_NONE;
- im->imRectColorType = COLOR_CODING_NONE;
-
- if (type == cam::IMAGE_RAW)
- {
- extractImage(im_msg.data, &im->imRawSize, &im->imRaw);
- im->imRawType = GetColorCoding(im_msg);
- }
- else if (type == cam::IMAGE)
- {
- extractImage(im_msg.data, &im->imSize, &im->im);
- im->imType = COLOR_CODING_MONO8;
- }
- else if (type == cam::IMAGE_COLOR)
- {
- extractImage(im_msg.data, &im->imColorSize, &im->imColor);
- im->imColorType = GetColorCoding(im_msg);
- }
- else if (type == cam::IMAGE_RECT)
- {
- extractImage(im_msg.data, &im->imRectSize, &im->imRect);
- im->imRectType = GetColorCoding(im_msg);
- }
- else if (type == cam::IMAGE_RECT_COLOR)
- {
- extractImage(im_msg.data, &im->imRectColorSize, &im->imRectColor);
- im->imRectColorType = GetColorCoding(im_msg);
- }
-
- // @todo: this OK when right image empty (disparity image requested instead)?
- im->imHeight = im_msg.height;
- im->imWidth = im_msg.width;
-
- // @todo: possible to NOT have rectification?
- memcpy((char*)(im->D), (char*)(&info_msg.D[0]), 5*sizeof(double));
- memcpy((char*)(im->K), (char*)(&info_msg.K[0]), 9*sizeof(double));
- memcpy((char*)(im->R), (char*)(&info_msg.R[0]), 9*sizeof(double));
- memcpy((char*)(im->P), (char*)(&info_msg.P[0]), 12*sizeof(double));
- im->hasRectification = true;
- }
-
-
-}
-
#endif // IMAGE_H
Modified: pkg/trunk/stacks/imaging_pipeline/image_proc/src/nodes/image_proc.cpp
===================================================================
--- pkg/trunk/stacks/imaging_pipeline/image_proc/src/nodes/image_proc.cpp 2009-08-31 04:42:23 UTC (rev 23362)
+++ pkg/trunk/stacks/imaging_pipeline/image_proc/src/nodes/image_proc.cpp 2009-08-31 06:50:29 UTC (rev 23363)
@@ -39,12 +39,12 @@
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/fill_image.h>
-#include <sensor_msgs/CameraInfo.h>
#include <opencv_latest/CvBridge.h>
#include <image_transport/image_publisher.h>
#include "image.h"
+#include "cam_bridge.h"
#include <boost/thread.hpp>
Modified: pkg/trunk/stacks/imaging_pipeline/image_proc/src/proc/image.cpp
===================================================================
--- pkg/trunk/stacks/imaging_pipeline/image_proc/src/proc/image.cpp 2009-08-31 04:42:23 UTC (rev 23362)
+++ pkg/trunk/stacks/imaging_pipeline/image_proc/src/proc/image.cpp 2009-08-31 06:50:29 UTC (rev 23363)
@@ -1987,3 +1987,5 @@
}
}
+
+
Modified: pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/CMakeLists.txt
===================================================================
--- pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/CMakeLists.txt 2009-08-31 04:42:23 UTC (rev 23362)
+++ pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/CMakeLists.txt 2009-08-31 06:50:29 UTC (rev 23363)
@@ -10,14 +10,13 @@
rospack_add_boost_directories()
-rospack_add_library(stereoproc src/image.cpp src/stereolib.c src/stereolib2.cpp src/findplane.cpp)
+rospack_add_library(stereoproc src/proc/stereoimage.cpp src/proc/stereolib.c src/proc/stereolib2.cpp)
rospack_add_compile_flags(stereoproc "-msse2 -mpreferred-stack-boundary=4")
-rospack_add_executable(stereoproc_exe src/stereoproc.cpp)
-rospack_add_compile_flags(stereoproc_exe "-msse2 -mpreferred-stack-boundary=4")
-target_link_libraries(stereoproc_exe stereoproc)
+rospack_add_executable(stereoproc_exe src/nodes/stereoproc.cpp)
+target_link_libraries(stereoproc_exe stereoproc imageproc)
SET_TARGET_PROPERTIES(stereoproc_exe PROPERTIES OUTPUT_NAME stereoproc)
-rospack_add_executable(imageproc src/imageproc.cpp)
-rospack_add_compile_flags(imageproc "-msse2 -mpreferred-stack-boundary=4")
-target_link_libraries(imageproc stereoproc)
+rospack_add_executable(stereoimageproc_exe src/nodes/stereo_image_proc.cpp)
+target_link_libraries(stereoimageproc_exe stereoproc imageproc)
+SET_TARGET_PROPERTIES(stereoimageproc_exe PROPERTIES OUTPUT_NAME stereo_image_proc)
Deleted: pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/include/cam_bridge.h
===================================================================
--- pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/include/cam_bridge.h 2009-08-31 04:42:23 UTC (rev 23362)
+++ pkg/trunk/stacks/imaging_pipeline/stereo_image_proc/include/cam_bridge.h 2009-08-31 06:50:29 UTC (rev 23363)
@@ -1,290 +0,0 @@
-/*********************************************************************
-* 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...
[truncated message content] |
|
From: <pmi...@us...> - 2009-08-31 17:27:46
|
Revision: 23389
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23389&view=rev
Author: pmihelich
Date: 2009-08-31 17:27:36 +0000 (Mon, 31 Aug 2009)
Log Message:
-----------
image_publisher: Moved to deprecated. image_transport should be used instead.
Added Paths:
-----------
pkg/trunk/deprecated/image_publisher/
Removed Paths:
-------------
pkg/trunk/sandbox/image_publisher/
Property changes on: pkg/trunk/deprecated/image_publisher
___________________________________________________________________
Added: svn:ignore
+ .build_version
.rosgcov_files
bin
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/sandbox/image_publisher:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <mee...@us...> - 2009-08-31 18:22:29
|
Revision: 23393
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23393&view=rev
Author: meeussen
Date: 2009-08-31 18:22:20 +0000 (Mon, 31 Aug 2009)
Log Message:
-----------
replace pr2_mechanism_msgs::JointStates by new non-pr2-specific sensor_msgs::JointState. Door test passes
Modified Paths:
--------------
pkg/trunk/calibration_experimental/joint_calibration_monitor/manifest.xml
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_position_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/src/head_position_controller.cpp
pkg/trunk/motion_planning/planning_environment/include/planning_environment/monitors/kinematic_model_state_monitor.h
pkg/trunk/motion_planning/planning_environment/manifest.xml
pkg/trunk/motion_planning/planning_environment/src/monitors/kinematic_model_state_monitor.cpp
pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/include/sbpl_arm_planner_node/sbpl_arm_planner_node.h
pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/manifest.xml
pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/src/sbpl_arm_planner_node.cpp
pkg/trunk/motion_planning/planning_research/sbpl_door_planner_action/include/sbpl_door_planner_action/sbpl_door_planner_action.h
pkg/trunk/motion_planning/planning_research/sbpl_door_planner_action/src/sbpl_door_planner_action.cpp
pkg/trunk/pr2/teleop/teleop_head/manifest.xml
pkg/trunk/pr2/teleop/teleop_head/teleop_head.cpp
pkg/trunk/pr2/teleop/teleop_head/teleop_head_keyboard.cpp
pkg/trunk/pr2/teleop/teleop_pr2/manifest.xml
pkg/trunk/pr2/teleop/teleop_pr2/teleop_pr2.cpp
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/head_servoing_controller.h
pkg/trunk/sandbox/experimental_controllers/manifest.xml
pkg/trunk/sandbox/experimental_controllers/src/head_servoing_controller.cpp
pkg/trunk/sandbox/geometric_blur/.build_version
pkg/trunk/sandbox/geometric_blur/.rosgcov_files
pkg/trunk/sandbox/hanoi/manifest.xml
pkg/trunk/sandbox/hanoi/src/Hanoi.cpp
pkg/trunk/sandbox/move_arm_tools/manifest.xml
pkg/trunk/sandbox/robot_voxelizer/include/robot_voxelizer/robot_voxelizer.h
pkg/trunk/sandbox/robot_voxelizer/manifest.xml
pkg/trunk/sandbox/robot_voxelizer/src/robot_voxelizer.cpp
pkg/trunk/sandbox/teleop_anti_collision/manifest.xml
pkg/trunk/sandbox/teleop_anti_collision/src/teleop_goal_projection.cpp
pkg/trunk/stacks/calibration/joint_states_settler/include/joint_states_settler/deflated_joint_states.h
pkg/trunk/stacks/calibration/joint_states_settler/include/joint_states_settler/joint_states_deflater.h
pkg/trunk/stacks/calibration/joint_states_settler/include/joint_states_settler/joint_states_settler.h
pkg/trunk/stacks/calibration/joint_states_settler/manifest.xml
pkg/trunk/stacks/calibration/joint_states_settler/src/joint_states_deflater.cpp
pkg/trunk/stacks/calibration/joint_states_settler/src/joint_states_settler.cpp
pkg/trunk/stacks/calibration/joint_states_settler/src/joint_states_settler_node.cpp
pkg/trunk/stacks/pr2_common/pr2_msgs/manifest.xml
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/include/pr2_mechanism_control/mechanism_control.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/src/mechanism_control.cpp
pkg/trunk/stacks/pr2_simulator/gazebo_plugin/manifest.xml
pkg/trunk/stacks/robot_model/robot_state_publisher/include/robot_state_publisher/joint_state_listener.h
pkg/trunk/stacks/robot_model/robot_state_publisher/manifest.xml
pkg/trunk/stacks/robot_model/robot_state_publisher/src/joint_state_listener.cpp
pkg/trunk/stacks/robot_model/robot_state_publisher/src/state_publisher.cpp
pkg/trunk/stacks/robot_model/stack.xml
Added Paths:
-----------
pkg/trunk/stacks/common_msgs/sensor_msgs/msg/JointState.msg
Removed Paths:
-------------
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_msgs/msg/JointStates.msg
Modified: pkg/trunk/calibration_experimental/joint_calibration_monitor/manifest.xml
===================================================================
--- pkg/trunk/calibration_experimental/joint_calibration_monitor/manifest.xml 2009-08-31 18:17:17 UTC (rev 23392)
+++ pkg/trunk/calibration_experimental/joint_calibration_monitor/manifest.xml 2009-08-31 18:22:20 UTC (rev 23393)
@@ -11,7 +11,4 @@
<!-- common_msgs -->
<depend package="diagnostic_msgs" />
- <!-- mechanism -->
- <depend package="pr2_mechanism_msgs" />
-
</package>
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_position_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_position_controller.h 2009-08-31 18:17:17 UTC (rev 23392)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_position_controller.h 2009-08-31 18:22:20 UTC (rev 23393)
@@ -46,7 +46,7 @@
#include <tf/message_notifier.h>
#include <tf/transform_datatypes.h>
#include <robot_mechanism_controllers/joint_position_controller.h>
-#include <pr2_mechanism_msgs/JointStates.h>
+#include <sensor_msgs/JointState.h>
#include <geometry_msgs/PointStamped.h>
#include <boost/scoped_ptr.hpp>
@@ -73,7 +73,7 @@
mechanism::RobotState *robot_state_;
ros::Subscriber sub_command_;
- void command(const pr2_mechanism_msgs::JointStatesConstPtr& command_msg);
+ void command(const sensor_msgs::JointStateConstPtr& command_msg);
void pointHead(const tf::MessageNotifier<geometry_msgs::PointStamped>::MessagePtr& point_msg);
void pointFrameOnHead(const tf::MessageNotifier<geometry_msgs::PointStamped>::MessagePtr& point_msg);
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/head_position_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/head_position_controller.cpp 2009-08-31 18:17:17 UTC (rev 23392)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/head_position_controller.cpp 2009-08-31 18:22:20 UTC (rev 23393)
@@ -84,7 +84,7 @@
// subscribe to head commands
- sub_command_ = node_.subscribe<pr2_mechanism_msgs::JointStates>("command", 1, &HeadPositionController::command, this);
+ sub_command_ = node_.subscribe<sensor_msgs::JointState>("command", 1, &HeadPositionController::command, this);
point_head_notifier_.reset(new MessageNotifier<geometry_msgs::PointStamped>(tf_,
boost::bind(&HeadPositionController::pointHead, this, _1),
@@ -114,21 +114,30 @@
head_tilt_controller_.update();
}
-void HeadPositionController::command(const pr2_mechanism_msgs::JointStatesConstPtr& command_msg)
+void HeadPositionController::command(const sensor_msgs::JointStateConstPtr& command_msg)
{
-
- assert(command_msg->joints.size() == 2);
- if(command_msg->joints[0].name == head_pan_controller_.joint_state_->joint_->name_)
+ // do not use assert to check user input!
+
+ if (command_msg->name.size() != 2 || command_msg->position.size() != 2){
+ ROS_ERROR("Head servoing controller expected joint command of size 2");
+ return;
+ }
+ if (command_msg->name[0] == head_pan_controller_.joint_state_->joint_->name_ &&
+ command_msg->name[1] == head_tilt_controller_.joint_state_->joint_->name_)
{
- pan_out_ = command_msg->joints[0].position;
- tilt_out_ = command_msg->joints[1].position;
+ pan_out_ = command_msg->position[0];
+ tilt_out_ = command_msg->position[1];
}
+ else if (command_msg->name[1] == head_pan_controller_.joint_state_->joint_->name_ &&
+ command_msg->name[0] == head_tilt_controller_.joint_state_->joint_->name_)
+ {
+ pan_out_ = command_msg->position[1];
+ tilt_out_ = command_msg->position[0];
+ }
else
{
- pan_out_ = command_msg->joints[1].position;
- tilt_out_ = command_msg->joints[0].position;
+ ROS_ERROR("Head servoing controller received invalid joint command");
}
-
}
void HeadPositionController::pointHead(const tf::MessageNotifier<geometry_msgs::PointStamped>::MessagePtr& point_msg)
Modified: pkg/trunk/motion_planning/planning_environment/include/planning_environment/monitors/kinematic_model_state_monitor.h
===================================================================
--- pkg/trunk/motion_planning/planning_environment/include/planning_environment/monitors/kinematic_model_state_monitor.h 2009-08-31 18:17:17 UTC (rev 23392)
+++ pkg/trunk/motion_planning/planning_environment/include/planning_environment/monitors/kinematic_model_state_monitor.h 2009-08-31 18:22:20 UTC (rev 23393)
@@ -41,7 +41,7 @@
#include <tf/transform_datatypes.h>
#include <tf/transform_listener.h>
#include <tf/message_notifier.h>
-#include <pr2_mechanism_msgs/JointStates.h>
+#include <sensor_msgs/JointState.h>
#include <mapping_msgs/AttachedObject.h>
#include <boost/bind.hpp>
#include <vector>
@@ -191,7 +191,7 @@
protected:
void setupRSM(void);
- void jointStateCallback(const pr2_mechanism_msgs::JointStatesConstPtr &jointState);
+ void jointStateCallback(const sensor_msgs::JointStateConstPtr &jointState);
void attachObjectCallback(const mapping_msgs::AttachedObjectConstPtr &attachedObject);
virtual bool attachObject(const mapping_msgs::AttachedObjectConstPtr &attachedObject);
Modified: pkg/trunk/motion_planning/planning_environment/manifest.xml
===================================================================
--- pkg/trunk/motion_planning/planning_environment/manifest.xml 2009-08-31 18:17:17 UTC (rev 23392)
+++ pkg/trunk/motion_planning/planning_environment/manifest.xml 2009-08-31 18:22:20 UTC (rev 23393)
@@ -15,7 +15,7 @@
<depend package="angles" />
<depend package="pr2_defs" />
<depend package="tabletop_msgs" />
- <depend package="pr2_mechanism_msgs" />
+ <depend package="sensor_msgs" />
<depend package="motion_planning_msgs" />
<depend package="mapping_msgs" />
<depend package="visualization_msgs" />
Modified: pkg/trunk/motion_planning/planning_environment/src/monitors/kinematic_model_state_monitor.cpp
===================================================================
--- pkg/trunk/motion_planning/planning_environment/src/monitors/kinematic_model_state_monitor.cpp 2009-08-31 18:17:17 UTC (rev 23392)
+++ pkg/trunk/motion_planning/planning_environment/src/monitors/kinematic_model_state_monitor.cpp 2009-08-31 18:22:20 UTC (rev 23393)
@@ -124,41 +124,45 @@
stateMonitorStarted_ = false;
}
-void planning_environment::KinematicModelStateMonitor::jointStateCallback(const pr2_mechanism_msgs::JointStatesConstPtr &jointState)
+void planning_environment::KinematicModelStateMonitor::jointStateCallback(const sensor_msgs::JointStateConstPtr &jointState)
{
bool change = !haveJointState_;
static bool first_time = true;
double totalv = 0.0;
- unsigned int n = jointState->get_joints_size();
+ unsigned int n = jointState->get_name_size();
+ if (jointState->get_name_size() != jointState->get_position_size() || jointState->get_name_size() !=jointState->get_velocity_size()){
+ ROS_ERROR("Planning environment received invalid joint state");
+ return;
+ }
for (unsigned int i = 0 ; i < n ; ++i)
{
- planning_models::KinematicModel::Joint* joint = kmodel_->getJoint(jointState->joints[i].name);
+ planning_models::KinematicModel::Joint* joint = kmodel_->getJoint(jointState->name[i]);
if (joint)
{
if (joint->usedParams == 1)
{
- double pos = jointState->joints[i].position;
- double vel = jointState->joints[i].velocity;
+ double pos = jointState->position[i];
+ double vel = jointState->velocity[i];
totalv += vel * vel;
planning_models::KinematicModel::RevoluteJoint* rjoint = dynamic_cast<planning_models::KinematicModel::RevoluteJoint*>(joint);
if (rjoint)
if (rjoint->continuous)
pos = angles::normalize_angle(pos);
- bool this_changed = robotState_->setParamsJoint(&pos, jointState->joints[i].name);
+ bool this_changed = robotState_->setParamsJoint(&pos, jointState->name[i]);
change = change || this_changed;
}
else
{
if (first_time)
- ROS_WARN("Incorrect number of parameters: %s (expected %d, had 1)", jointState->joints[i].name.c_str(), joint->usedParams);
+ ROS_WARN("Incorrect number of parameters: %s (expected %d, had 1)", jointState->name[i].c_str(), joint->usedParams);
}
}
else
{
if (first_time)
- ROS_ERROR("Unknown joint: %s", jointState->joints[i].name.c_str());
+ ROS_ERROR("Unknown joint: %s", jointState->name[i].c_str());
}
}
robotVelocity_ = sqrt(totalv);
Modified: pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/include/sbpl_arm_planner_node/sbpl_arm_planner_node.h
===================================================================
--- pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/include/sbpl_arm_planner_node/sbpl_arm_planner_node.h 2009-08-31 18:17:17 UTC (rev 23392)
+++ pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/include/sbpl_arm_planner_node/sbpl_arm_planner_node.h 2009-08-31 18:22:20 UTC (rev 23393)
@@ -185,7 +185,7 @@
pr2_mechanism_msgs::MechanismState mechanism_state_;
- pr2_mechanism_msgs::JointStates joint_states_;
+ sensor_msgs::JointState joint_states_;
tf::MessageNotifier<sensor_msgs::PointCloud> *point_cloud_notifier_;
@@ -265,7 +265,7 @@
void pointCloudCallback(const sensor_msgs::PointCloudConstPtr &point_cloud);
- void jointStatesCallback(const pr2_mechanism_msgs::JointStatesConstPtr &joint_states);
+ void jointStatesCallback(const sensor_msgs::JointStateConstPtr &joint_states);
void createOccupancyGrid();
Modified: pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/manifest.xml
===================================================================
--- pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/manifest.xml 2009-08-31 18:17:17 UTC (rev 23392)
+++ pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/manifest.xml 2009-08-31 18:22:20 UTC (rev 23393)
@@ -13,7 +13,7 @@
<depend package="motion_planning_msgs" />
<depend package="planning_environment" />
<depend package="visualization_msgs" />
- <depend package="pr2_mechanism_msgs" />
+ <depend package="sensor_msgs" />
<depend package="tf" />
<!-- <depend package="gtest" /> -->
<depend package="pr2_ik" />
Modified: pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/src/sbpl_arm_planner_node.cpp
===================================================================
--- pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/src/sbpl_arm_planner_node.cpp 2009-08-31 18:17:17 UTC (rev 23392)
+++ pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/src/sbpl_arm_planner_node.cpp 2009-08-31 18:22:20 UTC (rev 23393)
@@ -436,9 +436,12 @@
}
}
-void SBPLArmPlannerNode::jointStatesCallback(const pr2_mechanism_msgs::JointStatesConstPtr &joint_states)
+void SBPLArmPlannerNode::jointStatesCallback(const sensor_msgs::JointStateConstPtr &joint_states)
{
- joint_states_ = *joint_states;
+ if (joint_states->get_name_size() != joint_states->get_position_size())
+ ROS_ERROR("SBPL door planner received invalid joint state");
+ else
+ joint_states_ = *joint_states;
}
/** \brief Fetch the SBPL collision map and publish it for debugging purposes in rviz */
Modified: pkg/trunk/motion_planning/planning_research/sbpl_door_planner_action/include/sbpl_door_planner_action/sbpl_door_planner_action.h
===================================================================
--- pkg/trunk/motion_planning/planning_research/sbpl_door_planner_action/include/sbpl_door_planner_action/sbpl_door_planner_action.h 2009-08-31 18:17:17 UTC (rev 23392)
+++ pkg/trunk/motion_planning/planning_research/sbpl_door_planner_action/include/sbpl_door_planner_action/sbpl_door_planner_action.h 2009-08-31 18:22:20 UTC (rev 23393)
@@ -49,7 +49,7 @@
#include <mapping_msgs/CollisionMap.h>
#include <motion_planning_msgs/KinematicPath.h>
#include <pr2_mechanism_msgs/MechanismState.h>
-#include <pr2_mechanism_msgs/JointStates.h>
+#include <sensor_msgs/JointState.h>
// Costmap used for the map representation
#include <costmap_2d/costmap_2d_ros.h>
@@ -118,10 +118,10 @@
ros::Publisher pr2_ik_pub_;
ros::Publisher base_control_pub_;
tf::TransformListener tf_;
- pr2_mechanism_msgs::JointStates joint_states_;
+ sensor_msgs::JointState joint_states_;
motion_planning_msgs::KinematicPath robot_path_;
- void jointsCallback(const pr2_mechanism_msgs::JointStatesConstPtr &joint_states);
+ void jointsCallback(const sensor_msgs::JointStateConstPtr &joint_states);
// tf::TransformListener &tf_;
boost::shared_ptr<mpglue::CostmapAccessor> cm_access_;
Modified: pkg/trunk/motion_planning/planning_research/sbpl_door_planner_action/src/sbpl_door_planner_action.cpp
===================================================================
--- pkg/trunk/motion_planning/planning_research/sbpl_door_planner_action/src/sbpl_door_planner_action.cpp 2009-08-31 18:17:17 UTC (rev 23392)
+++ pkg/trunk/motion_planning/planning_research/sbpl_door_planner_action/src/sbpl_door_planner_action.cpp 2009-08-31 18:22:20 UTC (rev 23393)
@@ -198,10 +198,13 @@
return true;
}
-void SBPLDoorPlanner::jointsCallback(const pr2_mechanism_msgs::JointStatesConstPtr &joint_states)
+void SBPLDoorPlanner::jointsCallback(const sensor_msgs::JointStateConstPtr &joint_states)
{
//this is a stupid way of doing things ?
- joint_states_ = *joint_states;
+ if (joint_states->get_name_size() != joint_states->get_position_size())
+ ROS_ERROR("SBPL door planner received invalid joint state");
+ else
+ joint_states_ = *joint_states;
}
bool SBPLDoorPlanner::removeDoor()
@@ -974,11 +977,11 @@
robot_path_.set_states_size(path_length);
// get start_state of the robot from joint_states topic
- for(i = 0; i < joint_states_.get_joints_size(); ++i)
+ for(i = 0; i < joint_states_.get_name_size(); ++i)
{
robot_path_.start_state[i].header = joint_states_.header;
- robot_path_.start_state[i].joint_name = joint_states_.joints[i].name;
- robot_path_.start_state[i].value[0] = joint_states_.joints[i].position;
+ robot_path_.start_state[i].joint_name = joint_states_.name[i];
+ robot_path_.start_state[i].value[0] = joint_states_.position[i];
}
// set names of arm joints in path
@@ -1029,12 +1032,12 @@
{
int nind = 0;
joint_angles->resize(num_joints_);
- for(unsigned int i = 0; i < joint_states_.get_joints_size(); i++)
+ for(unsigned int i = 0; i < joint_states_.get_name_size(); i++)
{
- if(joint_names_[nind].compare(joint_states_.joints[i].name) == 0)
+ if(joint_names_[nind].compare(joint_states_.name[i]) == 0)
{
- ROS_DEBUG("%s: %.3f",joint_states_.joints[i].name.c_str(), joint_states_.joints[i].position);
- joint_angles->at(nind) = joint_states_.joints[i].position;
+ ROS_DEBUG("%s: %.3f",joint_states_.name[i].c_str(), joint_states_.position[i]);
+ joint_angles->at(nind) = joint_states_.position[i];
nind++;
}
if(nind == num_joints_)
Modified: pkg/trunk/pr2/teleop/teleop_head/manifest.xml
===================================================================
--- pkg/trunk/pr2/teleop/teleop_head/manifest.xml 2009-08-31 18:17:17 UTC (rev 23392)
+++ pkg/trunk/pr2/teleop/teleop_head/manifest.xml 2009-08-31 18:22:20 UTC (rev 23393)
@@ -7,7 +7,7 @@
<license>BSD</license>
<review status="na" notes="" />
<depend package="joy" />
- <depend package="pr2_mechanism_msgs" />
+ <depend package="sensor_msgs" />
<depend package="pr2_default_controllers" />
<depend package="roscpp" />
</package>
Modified: pkg/trunk/pr2/teleop/teleop_head/teleop_head.cpp
===================================================================
--- pkg/trunk/pr2/teleop/teleop_head/teleop_head.cpp 2009-08-31 18:17:17 UTC (rev 23392)
+++ pkg/trunk/pr2/teleop/teleop_head/teleop_head.cpp 2009-08-31 18:22:20 UTC (rev 23393)
@@ -36,8 +36,7 @@
#include "ros/ros.h"
#include "joy/Joy.h"
-#include "pr2_mechanism_msgs/JointState.h"
-#include "pr2_mechanism_msgs/JointStates.h"
+#include "sensor_msgs/JointState.h"
class TeleopHead
{
@@ -80,7 +79,7 @@
ROS_DEBUG("deadman_button: %d\n", deadman_button);
- head_pub_ = n_.advertise<pr2_mechanism_msgs::JointStates>("head_controller/command", 1);
+ head_pub_ = n_.advertise<sensor_msgs::JointState>("head_controller/command", 1);
joy_sub_ = n_.subscribe("joy", 10, &TeleopHead::joy_cb, this);
}
@@ -113,33 +112,26 @@
{
if (deadman_)
{
- pr2_mechanism_msgs::JointState joint_cmd ;
- pr2_mechanism_msgs::JointStates joint_cmds;
-
- joint_cmd.name ="head_pan_joint";
- joint_cmd.position = req_pan;
- joint_cmds.joints.push_back(joint_cmd);
- joint_cmd.name="head_tilt_joint";
- joint_cmd.position = req_tilt;
- joint_cmds.joints.push_back(joint_cmd);
-
+ sensor_msgs::JointState joint_cmds;
+ joint_cmds.set_name_size(2);
+ joint_cmds.set_position_size(2);
+ joint_cmds.name[0] ="head_pan_joint";
+ joint_cmds.position[0] = req_pan;
+ joint_cmds.name[1] ="head_tilt_joint";
+ joint_cmds.position[1] = req_tilt;
head_pub_.publish(joint_cmds);
fprintf(stdout,"teleop_head:: %f, %f\n", req_pan, req_tilt);
}
else if (!deadman_no_publish_)
{
- pr2_mechanism_msgs::JointState joint_cmd ;
- pr2_mechanism_msgs::JointStates joint_cmds;
-
- joint_cmd.name ="head_pan_joint";
- joint_cmd.position = req_pan;
- joint_cmds.joints.push_back(joint_cmd);
- joint_cmd.name="head_tilt_joint";
- joint_cmd.position = req_tilt;
- joint_cmds.joints.push_back(joint_cmd);
-
+ sensor_msgs::JointState joint_cmds;
+ joint_cmds.set_name_size(2);
+ joint_cmds.set_position_size(2);
+ joint_cmds.name[0] ="head_pan_joint";
+ joint_cmds.position[0] = req_pan;
+ joint_cmds.name[1] ="head_tilt_joint";
+ joint_cmds.position[1] = req_tilt;
head_pub_.publish(joint_cmds);
-
fprintf(stdout,"teleop_head:: %f, %f\n", req_pan, req_tilt);
}
}
Modified: pkg/trunk/pr2/teleop/teleop_head/teleop_head_keyboard.cpp
===================================================================
--- pkg/trunk/pr2/teleop/teleop_head/teleop_head_keyboard.cpp 2009-08-31 18:17:17 UTC (rev 23392)
+++ pkg/trunk/pr2/teleop/teleop_head/teleop_head_keyboard.cpp 2009-08-31 18:22:20 UTC (rev 23393)
@@ -37,8 +37,7 @@
#include <ros/ros.h>
-#include <pr2_mechanism_msgs/JointState.h>
-#include <pr2_mechanism_msgs/JointStates.h>
+#include <sensor_msgs/JointState.h>
#define HEAD_TOPIC "/head_controller/command"
@@ -67,7 +66,7 @@
req_tilt = 0.0;
req_pan = 0.0;
- head_pub_ = n_.advertise<pr2_mechanism_msgs::JointStates>(HEAD_TOPIC, 1);
+ head_pub_ = n_.advertise<sensor_msgs::JointState>(HEAD_TOPIC, 1);
n_.param("max_pan", max_pan, 2.7);
n_.param("max_tilt", max_tilt, 1.4);
@@ -176,16 +175,13 @@
if (dirty == true)
{
- pr2_mechanism_msgs::JointState joint_cmd ;
- pr2_mechanism_msgs::JointStates joint_cmds;
-
- joint_cmd.name ="head_pan_joint";
- joint_cmd.position = req_pan;
- joint_cmds.joints.push_back(joint_cmd);
- joint_cmd.name="head_tilt_joint";
- joint_cmd.position = req_tilt;
- joint_cmds.joints.push_back(joint_cmd);
-
+ sensor_msgs::JointState joint_cmds;
+ joint_cmds.set_name_size(2);
+ joint_cmds.set_position_size(2);
+ joint_cmds.name[0] ="head_pan_joint";
+ joint_cmds.position[0] = req_pan;
+ joint_cmds.name[1] ="head_tilt_joint";
+ joint_cmds.position[1] = req_tilt;
head_pub_.publish(joint_cmds) ;
Modified: pkg/trunk/pr2/teleop/teleop_pr2/manifest.xml
===================================================================
--- pkg/trunk/pr2/teleop/teleop_pr2/manifest.xml 2009-08-31 18:17:17 UTC (rev 23392)
+++ pkg/trunk/pr2/teleop/teleop_pr2/manifest.xml 2009-08-31 18:22:20 UTC (rev 23393)
@@ -9,7 +9,7 @@
<depend package="joy" />
<depend package="std_msgs" />
<depend package="geometry_msgs" />
- <depend package="pr2_mechanism_msgs" />
+ <depend package="sensor_msgs" />
<depend package="pr2_default_controllers" />
<depend package="roscpp" />
</package>
Modified: pkg/trunk/pr2/teleop/teleop_pr2/teleop_pr2.cpp
===================================================================
--- pkg/trunk/pr2/teleop/teleop_pr2/teleop_pr2.cpp 2009-08-31 18:17:17 UTC (rev 23392)
+++ pkg/trunk/pr2/teleop/teleop_pr2/teleop_pr2.cpp 2009-08-31 18:22:20 UTC (rev 23393)
@@ -37,8 +37,7 @@
#include "ros/ros.h"
#include "joy/Joy.h"
#include "geometry_msgs/Twist.h"
-#include "pr2_mechanism_msgs/JointState.h"
-#include "pr2_mechanism_msgs/JointStates.h"
+#include "sensor_msgs/JointState.h"
#include "std_msgs/Float64.h"
@@ -150,7 +149,7 @@
torso_pub_ = n_.advertise<std_msgs::Float64>(TORSO_TOPIC, 1);
if (head_button != 0)
- head_pub_ = n_.advertise<pr2_mechanism_msgs::JointStates>(HEAD_TOPIC, 1);
+ head_pub_ = n_.advertise<sensor_msgs::JointState>(HEAD_TOPIC, 1);
vel_pub_ = n_.advertise<geometry_msgs::Twist>("cmd_vel", 1);
@@ -246,16 +245,14 @@
// Head
if (head_button != 0)
{
- pr2_mechanism_msgs::JointState joint_cmd ;
- pr2_mechanism_msgs::JointStates joint_cmds;
+ sensor_msgs::JointState joint_cmds;
+ joint_cmds.set_name_size(2);
+ joint_cmds.set_position_size(2);
- joint_cmd.name ="head_pan_joint";
- joint_cmd.position = req_pan;
- joint_cmds.joints.push_back(joint_cmd);
- joint_cmd.name="head_tilt_joint";
- joint_cmd.position = req_tilt;
- joint_cmds.joints.push_back(joint_cmd);
-
+ joint_cmds.name[0] ="head_pan_joint";
+ joint_cmds.position[0] = req_pan;
+ joint_cmds.name[1] ="head_tilt_joint";
+ joint_cmds.position[1] = req_tilt;
head_pub_.publish(joint_cmds);
}
@@ -281,16 +278,13 @@
// Publish head
if (head_button != 0)
{
- pr2_mechanism_msgs::JointState joint_cmd ;
- pr2_mechanism_msgs::JointStates joint_cmds;
-
- joint_cmd.name ="head_pan_joint";
- joint_cmd.position = req_pan;
- joint_cmds.joints.push_back(joint_cmd);
- joint_cmd.name="head_tilt_joint";
- joint_cmd.position = req_tilt;
- joint_cmds.joints.push_back(joint_cmd);
-
+ sensor_msgs::JointState joint_cmds;
+ joint_cmds.set_name_size(2);
+ joint_cmds.set_position_size(2);
+ joint_cmds.name[0] ="head_pan_joint";
+ joint_cmds.position[0] = req_pan;
+ joint_cmds.name[1] ="head_tilt_joint";
+ joint_cmds.position[1] = req_tilt;
head_pub_.publish(joint_cmds);
}
Modified: pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/head_servoing_controller.h
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/head_servoing_controller.h 2009-08-31 18:17:17 UTC (rev 23392)
+++ pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/head_servoing_controller.h 2009-08-31 18:22:20 UTC (rev 23393)
@@ -44,7 +44,7 @@
#include <tf/message_notifier.h>
#include <tf/transform_datatypes.h>
#include <robot_mechanism_controllers/joint_velocity_controller.h>
-#include <pr2_mechanism_msgs/JointStates.h>
+#include <sensor_msgs/JointState.h>
#include <geometry_msgs/PointStamped.h>
#include <boost/scoped_ptr.hpp>
#include <math.h>
@@ -80,7 +80,7 @@
ros::Subscriber sub_command_;
- void command(const pr2_mechanism_msgs::JointStatesConstPtr& command_msg);
+ void command(const sensor_msgs::JointStateConstPtr& command_msg);
void pointHead(const tf::MessageNotifier<geometry_msgs::PointStamped>::MessagePtr& point_msg);
void pointFrameOnHead(const tf::MessageNotifier<geometry_msgs::PointStamped>::MessagePtr& point_msg);
Modified: pkg/trunk/sandbox/experimental_controllers/manifest.xml
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/manifest.xml 2009-08-31 18:17:17 UTC (rev 23392)
+++ pkg/trunk/sandbox/experimental_controllers/manifest.xml 2009-08-31 18:22:20 UTC (rev 23393)
@@ -10,7 +10,7 @@
<depend package="kdl_parser"/>
<depend package="rospy"/>
<depend package="pr2_controller_interface" />
- <depend package="pr2_mechanism_msgs" />
+ <depend package="sensor_msgs" />
<depend package="pr2_mechanism_model" />
<depend package="pr2_mechanism_control" />
<depend package="pluginlib" />
Modified: pkg/trunk/sandbox/experimental_controllers/src/head_servoing_controller.cpp
===================================================================
--- pkg/trunk/sandbox/experimental_controllers/src/head_servoing_controller.cpp 2009-08-31 18:17:17 UTC (rev 23392)
+++ pkg/trunk/sandbox/experimental_controllers/src/head_servoing_controller.cpp 2009-08-31 18:22:20 UTC (rev 23393)
@@ -100,7 +100,7 @@
// subscribe to head commands
- sub_command_ = node_.subscribe<pr2_mechanism_msgs::JointStates>("command", 1, &HeadServoingController::command, this);
+ sub_command_ = node_.subscribe<sensor_msgs::JointState>("command", 1, &HeadServoingController::command, this);
point_head_notifier_.reset(new MessageNotifier<geometry_msgs::PointStamped>(tf_,
boost::bind(&HeadServoingController::pointHead, this, _1),
@@ -135,21 +135,31 @@
head_tilt_controller_.update();
}
-void HeadServoingController::command(const pr2_mechanism_msgs::JointStatesConstPtr& command_msg)
+void HeadServoingController::command(const sensor_msgs::JointSta...
[truncated message content] |
|
From: <ge...@us...> - 2009-08-31 19:08:34
|
Revision: 23396
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23396&view=rev
Author: gerkey
Date: 2009-08-31 19:08:25 +0000 (Mon, 31 Aug 2009)
Log Message:
-----------
Moved theora_image_transport and compressed_image_transport out of
imaging_pipeline into sandbox, pending creation of new stack to hold them.
Modified Paths:
--------------
pkg/trunk/stacks/diagnostics/CMakeLists.txt
pkg/trunk/stacks/imaging_pipeline/stack.xml
Added Paths:
-----------
pkg/trunk/sandbox/compressed_image_transport/
pkg/trunk/sandbox/theora_image_transport/
pkg/trunk/stacks/imaging_pipeline/CMakeLists.txt
pkg/trunk/stacks/imaging_pipeline/Makefile
Removed Paths:
-------------
pkg/trunk/stacks/imaging_pipeline/compressed_image_transport/
pkg/trunk/stacks/imaging_pipeline/theora_image_transport/
Property changes on: pkg/trunk/sandbox/compressed_image_transport
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/stacks/imaging_pipeline/compressed_image_transport:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Property changes on: pkg/trunk/sandbox/theora_image_transport
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/stacks/imaging_pipeline/theora_image_transport: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/stacks/diagnostics/CMakeLists.txt
===================================================================
--- pkg/trunk/stacks/diagnostics/CMakeLists.txt 2009-08-31 18:59:46 UTC (rev 23395)
+++ pkg/trunk/stacks/diagnostics/CMakeLists.txt 2009-08-31 19:08:25 UTC (rev 23396)
@@ -16,6 +16,4 @@
# variables.
#list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental)
-rosbuild(diagnostics 0.1.0)
-# After next ROS release, change to new macro
-#rosbuild_make_distribution(0.1.0)
+rosbuild_make_distribution(0.1.0)
Added: pkg/trunk/stacks/imaging_pipeline/CMakeLists.txt
===================================================================
--- pkg/trunk/stacks/imaging_pipeline/CMakeLists.txt (rev 0)
+++ pkg/trunk/stacks/imaging_pipeline/CMakeLists.txt 2009-08-31 19:08:25 UTC (rev 23396)
@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+set(ROSPACK_MAKEDIST true)
+
+# Append to CPACK_SOURCE_IGNORE_FILES a semicolon-separated list of
+# directories (or patterns, but directories should suffice) that should
+# be excluded from the distro. This is not the place to put things that
+# should be ignored everywhere, like "build" directories; that happens in
+# rosbuild/rosbuild.cmake. Here should be listed packages that aren't
+# ready for inclusion in a distro.
+#
+# This list is combined with the list in rosbuild/rosbuild.cmake. Note
+# that CMake 2.6 may be required to ensure that the two lists are combined
+# properly. CMake 2.4 seems to have unpredictable scoping rules for such
+# variables.
+#list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental)
+
+rosbuild_make_distribution(0.1.0)
Added: pkg/trunk/stacks/imaging_pipeline/Makefile
===================================================================
--- pkg/trunk/stacks/imaging_pipeline/Makefile (rev 0)
+++ pkg/trunk/stacks/imaging_pipeline/Makefile 2009-08-31 19:08:25 UTC (rev 23396)
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake_stack.mk
\ No newline at end of file
Modified: pkg/trunk/stacks/imaging_pipeline/stack.xml
===================================================================
--- pkg/trunk/stacks/imaging_pipeline/stack.xml 2009-08-31 18:59:46 UTC (rev 23395)
+++ pkg/trunk/stacks/imaging_pipeline/stack.xml 2009-08-31 19:08:25 UTC (rev 23396)
@@ -1,18 +1,17 @@
<stack name="imaging_pipeline" version="0.1.0">
<description brief="pipeline for processing monocular and stereo images">
+
pipeline for processing monocular and stereo images
+
</description>
<author>Kurt Konolige</author>
<license>BSD</license>
<review status="unreviewed" notes=""/>
- <url>http://pr.willowgarage.com/wiki/imaging_pipeline</url>
- <depend stack="opencv"/> <!-- opencvpython, opencv_latest, opencv_latest -->
+ <url>http://ros.org/wiki/imaging_pipeline</url>
+ <depend stack="opencv"/> <!-- opencv_latest -->
<depend stack="diagnostics"/> <!-- diagnostic_updater -->
- <depend stack="ros"/> <!-- roscpp, rostest, rosrecord, roscpp -->
+ <depend stack="ros"/> <!-- rosbagmigration, message_filters, roscpp -->
+ <depend stack="common"/> <!-- image_transport -->
<depend stack="common_msgs"/> <!-- sensor_msgs -->
- <depend stack="image_transport"/>
- <depend package="message_filters" />
- <depend package="rosbagmigration"/>
- <depend package="pluginlib"/>
</stack>
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <vij...@us...> - 2009-08-31 20:45:16
|
Revision: 23406
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23406&view=rev
Author: vijaypradeep
Date: 2009-08-31 20:45:00 +0000 (Mon, 31 Aug 2009)
Log Message:
-----------
Removing more dead folder trees
Removed Paths:
-------------
pkg/trunk/calibration_experimental/calibration_msgs/
pkg/trunk/controllers/mechanism_controller_test/
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <bla...@us...> - 2009-08-31 20:56:17
|
Revision: 23409
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23409&view=rev
Author: blaisegassend
Date: 2009-08-31 20:56:07 +0000 (Mon, 31 Aug 2009)
Log Message:
-----------
Moved my wii integration into sandbox and gave it the more expicit name
wii_integration_test
Added Paths:
-----------
pkg/trunk/sandbox/wii_integration_test/
Removed Paths:
-------------
pkg/trunk/drivers/input/wii/
Property changes on: pkg/trunk/sandbox/wii_integration_test
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/drivers/input/wii:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <sf...@us...> - 2009-09-01 01:17:03
|
Revision: 23447
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23447&view=rev
Author: sfkwc
Date: 2009-09-01 01:16:56 +0000 (Tue, 01 Sep 2009)
Log Message:
-----------
removing the unused neven, which is causing errors in bootstrap
Removed Paths:
-------------
pkg/trunk/3rdparty/neven/
pkg/trunk/vision/neven_face_detector/
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <pmi...@us...> - 2009-09-01 01:17:32
|
Revision: 23436
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23436&view=rev
Author: pmihelich
Date: 2009-09-01 00:23:22 +0000 (Tue, 01 Sep 2009)
Log Message:
-----------
image_transport_plugins: Initial stack check-in. Includes theora_image_transport, compressed_image_transport and libtheora. Currently depends on opencv, but may excise this in the future.
Added Paths:
-----------
pkg/trunk/stacks/image_transport_plugins/compressed_image_transport/
pkg/trunk/stacks/image_transport_plugins/libtheora/
pkg/trunk/stacks/image_transport_plugins/theora_image_transport/
Removed Paths:
-------------
pkg/trunk/3rdparty/libtheora/
pkg/trunk/sandbox/compressed_image_transport/
pkg/trunk/sandbox/theora_image_transport/
pkg/trunk/stacks/image_transport_plugins/compressed_image_transport/
pkg/trunk/stacks/image_transport_plugins/libtheora/
pkg/trunk/stacks/image_transport_plugins/theora_image_transport/
Property changes on: pkg/trunk/stacks/image_transport_plugins/libtheora
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/3rdparty/libtheora:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <mee...@us...> - 2009-09-01 01:17:37
|
Revision: 23437
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23437&view=rev
Author: meeussen
Date: 2009-09-01 00:35:02 +0000 (Tue, 01 Sep 2009)
Log Message:
-----------
add pr2_mechanism:: namespace to pr2_mechanism_controller, pr2_mechanism_model and pr2_hardware_interface
Modified Paths:
--------------
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_kinematics.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_calibration_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/gripper_calibration_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_position_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_traj_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_base_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_odometry.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/wrist_calibration_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/src/base_kinematics.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_calibration_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/gripper_calibration_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/head_position_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/laser_scanner_traj_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_base_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_odometry.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/wrist_calibration_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/test/test_base_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_pose_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_twist_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_wrench_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_effort_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_position_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_ud_calibration_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_velocity_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/trigger_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_pose_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_twist_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_wrench_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/joint_effort_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/joint_position_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/joint_ud_calibration_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/joint_velocity_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/trigger_controller.cpp
pkg/trunk/sandbox/dallas_controller/include/dallas_controller/dallas_controller.h
pkg/trunk/sandbox/dallas_controller/src/dallas_controller.cpp
pkg/trunk/sandbox/dynamics_estimation/include/dynamics_estimation/dynamics_estimation_node.h
pkg/trunk/sandbox/dynamics_estimation/src/dynamics_estimation_node.cpp
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/arm_trajectory_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/base_position_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_hybrid_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_pose_twist_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_spline_trajectory_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_tff_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_trajectory_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/cartesian_twist_controller_ik.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/caster_calibration_controller_effort.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/caster_controller_effort.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/endeffector_constraint_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/head_servoing_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_autotuner.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_blind_calibration_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_calibration_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_chain_constraint_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_chain_sine_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_inverse_dynamics_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_limit_calibration_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_pd_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_position_smoothing_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/joint_trajectory_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/laser_scanner_qualification.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/pid_position_velocity_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/plug_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/pr2_gripper_controller.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/probe.h
pkg/trunk/sandbox/experimental_controllers/include/experimental_controllers/trajectory_controller.h
pkg/trunk/sandbox/experimental_controllers/src/arm_trajectory_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/base_position_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/cartesian_hybrid_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/cartesian_pose_twist_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/cartesian_spline_trajectory_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/cartesian_tff_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/cartesian_trajectory_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/cartesian_twist_controller_ik.cpp
pkg/trunk/sandbox/experimental_controllers/src/caster_calibration_controller_effort.cpp
pkg/trunk/sandbox/experimental_controllers/src/caster_controller_effort.cpp
pkg/trunk/sandbox/experimental_controllers/src/endeffector_constraint_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/head_servoing_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_autotuner.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_blind_calibration_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_calibration_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_chain_constraint_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_chain_sine_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_inverse_dynamics_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_limit_calibration_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_pd_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_position_smoothing_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/joint_trajectory_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/laser_scanner_qualification.cpp
pkg/trunk/sandbox/experimental_controllers/src/pid_position_velocity_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/plug_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/pr2_gripper_controller.cpp
pkg/trunk/sandbox/experimental_controllers/src/probe.cpp
pkg/trunk/sandbox/experimental_controllers/src/trajectory_controller.cpp
pkg/trunk/sandbox/mechanism_control_test/include/mechanism_controller_test/null_hardware.h
pkg/trunk/sandbox/mechanism_control_test/src/mechanism_controller_test.cpp
pkg/trunk/sandbox/mechanism_control_test/src/null_hardware.cpp
pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/include/joint_qualification_controllers/checkout_controller.h
pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/include/joint_qualification_controllers/hold_set_controller.h
pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/include/joint_qualification_controllers/hysteresis_controller.h
pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/include/joint_qualification_controllers/sine_sweep_controller.h
pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/src/checkout_controller.cpp
pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/src/hold_set_controller.cpp
pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/src/hysteresis_controller.cpp
pkg/trunk/sandbox/qualification_controllers/joint_qualification_controllers/src/sine_sweep_controller.cpp
pkg/trunk/sandbox/rtt_controller/manifest.xml
pkg/trunk/sandbox/rtt_controller/src/pr2_etherCAT_component.cpp
pkg/trunk/sandbox/trajectory_controllers/include/trajectory_controllers/joint_trajectory_controller2.h
pkg/trunk/sandbox/trajectory_controllers/src/joint_trajectory_controller2.cpp
pkg/trunk/stacks/pr2/pr2_etherCAT/src/main.cpp
pkg/trunk/stacks/pr2_ethercat_drivers/ethercat_hardware/include/ethercat_hardware/ethercat_device.h
pkg/trunk/stacks/pr2_mechanism/pr2_controller_interface/include/pr2_controller_interface/controller.h
pkg/trunk/stacks/pr2_mechanism/pr2_hardware_interface/include/pr2_hardware_interface/hardware_interface.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/include/pr2_mechanism_control/mechanism_control.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/include/pr2_mechanism_control/recorder.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/src/mechanism_control.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_control/src/recorder.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/chain.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/gripper_transmission.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/joint.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/pr2_gripper_transmission.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/robot.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/simple_transmission.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/transmission.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/wrist_transmission.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/chain.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/gripper_transmission.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/joint.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/nonlinear_transmission.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/pr2_gripper_transmission.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/robot.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/simple_transmission.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/wrist_transmission.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/test/test_chain.cpp
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/transmission_plugins.xml
pkg/trunk/stacks/pr2_simulator/gazebo_plugin/include/gazebo_plugin/gazebo_mechanism_control.h
pkg/trunk/stacks/pr2_simulator/gazebo_plugin/src/gazebo_mechanism_control.cpp
Removed Paths:
-------------
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/link.h
pkg/trunk/stacks/pr2_mechanism/pr2_mechanism_model/src/link.cpp
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_kinematics.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_kinematics.h 2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_kinematics.h 2009-09-01 00:35:02 UTC (rev 23437)
@@ -59,7 +59,7 @@
/*!
* \brief JointState for this wheel joint
*/
- mechanism::JointState *joint_;
+ pr2_mechanism::JointState *joint_;
/*!
* \brief default offset from the parent caster before any transformations
@@ -127,8 +127,8 @@
* @param robot_state The robot's current state
* @param config Tiny xml element pointing to this wheel
*/
-// void initXml(mechanism::RobotState *robot_state, TiXmlElement *config);
- bool init(mechanism::RobotState *robot_state, const ros::NodeHandle &node, std::string link_name);
+// void initXml(pr2_mechanism::RobotState *robot_state, TiXmlElement *config);
+ bool init(pr2_mechanism::RobotState *robot_state, const ros::NodeHandle &node, std::string link_name);
/*!
* \brief Computes 2d postion of the wheel relative to the center of the base
@@ -146,7 +146,7 @@
/*!
* \brief JointState for this caster joint
*/
- mechanism::JointState *joint_;
+ pr2_mechanism::JointState *joint_;
/*!
* \brief offset from the center of the base
@@ -220,8 +220,8 @@
* @param robot_state The robot's current state
* @param config Tiny xml element pointing to this caster
*/
-// void initXml(mechanism::RobotState *robot_state, TiXmlElement *config);
- bool init(mechanism::RobotState *robot_state, const ros::NodeHandle &node, std::string link_name);
+// void initXml(pr2_mechanism::RobotState *robot_state, TiXmlElement *config);
+ bool init(pr2_mechanism::RobotState *robot_state, const ros::NodeHandle &node, std::string link_name);
};
/*! \class
@@ -237,8 +237,8 @@
* @param config Tiny xml element pointing to its controller
* @return Successful init
*/
-// bool initXml(mechanism::RobotState *robot_state, TiXmlElement *config);
- bool init(mechanism::RobotState *robot_state, const ros::NodeHandle &node);
+// bool initXml(pr2_mechanism::RobotState *robot_state, TiXmlElement *config);
+ bool init(pr2_mechanism::RobotState *robot_state, const ros::NodeHandle &node);
/*!
* \brief Computes 2d postion of every wheel relative to the center of the base
@@ -256,7 +256,7 @@
/*!
* \brief remembers everything about the state of the robot
*/
- mechanism::RobotState *robot_state_;
+ pr2_mechanism::RobotState *robot_state_;
/*!
* \brief number of wheels connected to the base
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_calibration_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_calibration_controller.h 2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_calibration_controller.h 2009-09-01 00:35:02 UTC (rev 23437)
@@ -47,8 +47,8 @@
CasterCalibrationController();
~CasterCalibrationController();
- virtual bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
- virtual bool init(mechanism::RobotState *robot, const ros::NodeHandle &n);
+ virtual bool initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config);
+ virtual bool init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n);
/*!
@@ -66,7 +66,7 @@
protected:
ros::NodeHandle node_;
- mechanism::RobotState *robot_;
+ pr2_mechanism::RobotState *robot_;
enum { INITIALIZED, BEGINNING, MOVING, CALIBRATED };
int state_;
@@ -74,9 +74,9 @@
double search_velocity_;
bool original_switch_state_;
- Actuator *actuator_;
- mechanism::JointState *joint_, *wheel_l_joint_, *wheel_r_joint_;
- mechanism::Transmission *transmission_;
+ pr2_mechanism::Actuator *actuator_;
+ pr2_mechanism::JointState *joint_, *wheel_l_joint_, *wheel_r_joint_;
+ pr2_mechanism::Transmission *transmission_;
controller::CasterController cc_;
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_controller.h 2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_controller.h 2009-09-01 00:35:02 UTC (rev 23437)
@@ -61,12 +61,12 @@
CasterController();
~CasterController();
- bool init(mechanism::RobotState *robot_state,
+ bool init(pr2_mechanism::RobotState *robot_state,
const std::string &caster_joint,
const std::string &wheel_l_joint, const std::string &wheel_r_joint,
const control_toolbox::Pid &caster_pid, const control_toolbox::Pid &wheel_pid);
- bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
- bool init(mechanism::RobotState *robot, const ros::NodeHandle &n);
+ bool initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config);
+ bool init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n);
void update();
@@ -76,7 +76,7 @@
double getSteerPosition() { return caster_->position_; }
double getSteerVelocity() { return caster_->velocity_; }
- mechanism::JointState *caster_;
+ pr2_mechanism::JointState *caster_;
private:
ros::NodeHandle node_;
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/gripper_calibration_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/gripper_calibration_controller.h 2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/gripper_calibration_controller.h 2009-09-01 00:35:02 UTC (rev 23437)
@@ -50,8 +50,8 @@
GripperCalibrationController();
~GripperCalibrationController();
- virtual bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
- virtual bool init(mechanism::RobotState *robot, const ros::NodeHandle &n);
+ virtual bool initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config);
+ virtual bool init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n);
virtual void update();
@@ -68,13 +68,13 @@
int count_;
ros::NodeHandle node_;
- mechanism::RobotState *robot_;
+ pr2_mechanism::RobotState *robot_;
ros::Time last_publish_time_;
boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > pub_calibrated_;
double search_velocity_;
- Actuator *actuator_;
- mechanism::JointState *joint_;
+ pr2_mechanism::Actuator *actuator_;
+ pr2_mechanism::JointState *joint_;
double init_time;
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_position_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_position_controller.h 2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_position_controller.h 2009-09-01 00:35:02 UTC (rev 23437)
@@ -58,7 +58,7 @@
HeadPositionController();
~HeadPositionController();
- bool init(mechanism::RobotState *robot, const ros::NodeHandle &n);
+ bool init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n);
bool starting();
void update();
@@ -70,7 +70,7 @@
ros::NodeHandle node_;
std::string pan_link_name_, tilt_link_name_;
- mechanism::RobotState *robot_state_;
+ pr2_mechanism::RobotState *robot_state_;
ros::Subscriber sub_command_;
void command(const sensor_msgs::JointStateConstPtr& command_msg);
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_traj_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_traj_controller.h 2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_traj_controller.h 2009-09-01 00:35:02 UTC (rev 23437)
@@ -68,8 +68,8 @@
LaserScannerTrajController() ;
~LaserScannerTrajController() ;
- bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
- bool init(mechanism::RobotState *robot, const ros::NodeHandle &n);
+ bool initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config);
+ bool init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n);
virtual void update() ;
@@ -93,16 +93,16 @@
//void initDErrorFilter(double f) ; // Initializes d_error_filter using a smoothing factor
- mechanism::RobotState *robot_ ;
- mechanism::JointState *joint_state_ ; // Need this to check the calibrated flag on the joint
+ pr2_mechanism::RobotState *robot_ ;
+ pr2_mechanism::JointState *joint_state_ ; // Need this to check the calibrated flag on the joint
boost::mutex traj_lock_ ; // Mutex for traj_
trajectory::Trajectory traj_ ; // Stores the current trajectory being executed
//boost::mutex track_link_lock_ ;
//bool track_link_enabled_ ;
- //mechanism::LinkState* target_link_ ;
- //mechanism::LinkState* mount_link_ ;
+ //pr2_mechanism::LinkState* target_link_ ;
+ //pr2_mechanism::LinkState* mount_link_ ;
tf::Vector3 track_point_ ;
//JointPositionSmoothController joint_position_controller_ ; // The PID position controller that is doing all the under-the-hood controls stuff
@@ -133,8 +133,8 @@
void update() ;
- bool initXml(mechanism::RobotState *robot, TiXmlElement *config) ;
- bool init(mechanism::RobotState *robot, const ros::NodeHandle &n);
+ bool initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config) ;
+ bool init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n);
// Message Callbacks
void setPeriodicCmd() ;
@@ -149,7 +149,7 @@
private:
ros::Node *node_ ;
LaserScannerTrajController c_ ;
- mechanism::RobotState *robot_ ;
+ pr2_mechanism::RobotState *robot_ ;
std::string service_prefix_ ;
int prev_profile_segment_ ; //!< The segment in the current profile when update() was last called
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_base_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_base_controller.h 2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_base_controller.h 2009-09-01 00:35:02 UTC (rev 23437)
@@ -72,7 +72,7 @@
*/
bool starting();
- bool init(mechanism::RobotState *robot, const ros::NodeHandle &n);
+ bool init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n);
/*!
* \brief Loads controller's information from the xml description file and param server
@@ -80,7 +80,7 @@
* @param config Tiny xml element pointing to this controller
* @return Successful init
*/
- bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
+ bool initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config);
/*
* \brief callback function for setting the desired velocity using a topic
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_odometry.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_odometry.h 2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_odometry.h 2009-09-01 00:35:02 UTC (rev 23437)
@@ -73,7 +73,7 @@
* @param config Tiny xml element pointing to this controller
* @return Successful init
*/
- bool initXml(mechanism::RobotState *robot_state, TiXmlElement *config);
+ bool initXml(pr2_mechanism::RobotState *robot_state, TiXmlElement *config);
/*!
* \brief Initializes and loads odometry information from the param server
@@ -81,7 +81,7 @@
* @param config Tiny xml element pointing to this controller
* @return Successful init
*/
- bool init(mechanism::RobotState *robot_state, const ros::NodeHandle &node);
+ bool init(pr2_mechanism::RobotState *robot_state, const ros::NodeHandle &node);
/*
* \brief The starting method is called by the realtime thread just before
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/wrist_calibration_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/wrist_calibration_controller.h 2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/wrist_calibration_controller.h 2009-09-01 00:35:02 UTC (rev 23437)
@@ -56,8 +56,8 @@
WristCalibrationController();
~WristCalibrationController();
- virtual bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
- virtual bool init(mechanism::RobotState *robot, const ros::NodeHandle &n);
+ virtual bool initXml(pr2_mechanism::RobotState *robot, TiXmlElement *config);
+ virtual bool init(pr2_mechanism::RobotState *robot, const ros::NodeHandle &n);
/*!
* \brief Issues commands to the joint. Should be called at regular intervals
@@ -76,7 +76,7 @@
enum { INITIALIZED, BEGINNING, MOVING_FLEX, MOVING_ROLL, CALIBRATED };
int state_;
- mechanism::RobotState *robot_;
+ pr2_mechanism::RobotState *robot_;
ros::NodeHandle node_;
ros::Time last_publish_time_;
boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > pub_calibrated_;
@@ -90,9 +90,9 @@
double prev_actuator_l_position_, prev_actuator_r_position_;
- Actuator *actuator_l_, *actuator_r_;
- mechanism::JointState *flex_joint_, *roll_joint_;
- mechanism::Transmission *transmission_;
+ pr2_mechanism::Actuator *actuator_l_, *actuator_r_;
+ pr2_mechanism::JointState *flex_joint_, *roll_joint_;
+ pr2_mechanism::Transmission *transmission_;
controller::JointVelocityController vc_flex_, vc_roll_;
};
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/base_kinematics.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/base_kinematics.cpp 2009-09-01 00:23:22 UTC (rev 23436)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/base_kinematics.cpp 2009-09-01 00:35:02 UTC (rev 23437)
@@ -40,7 +40,7 @@
using namespace controller;
-bool Wheel::init(mechanism::RobotState *robot_state, const ros::NodeHandle &node, std::string link_name)
+bool Wheel::init(pr2_mechanism::RobotState *robot_state, const ros::NodeHandle &node, std::string link_name)
{
wheel_stuck_ = 0;
direction_multiplier_ = 1;
@@ -72,7 +72,7 @@
return true;
}
-bool Caster::init(mechanism::RobotState *robot_state, const ros::NodeHandle &node, std::string link_name)
+bool Caster::init(pr2_mechanism::RobotState *robot_state, const ros::NodeHandle &node, std::string link_name)
{
caster_stuck_ = 0;
caster_speed_ = 0;
@@ -118,7 +118,7 @@
return true;
}
-bool BaseKinematics::init(mechanism::RobotState *robot_state, const ros::NodeHandle &node)
+bool BaseKinematics::init(pr2_mechanism::RobotState *robot_state, const ros::NodeHandle &node)
{
std::string caster_names_string;
std::vector<std::string> caster_name...
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