Revision: 7872
http://playerstage.svn.sourceforge.net/playerstage/?rev=7872&view=rev
Author: robotos
Date: 2009-06-22 23:28:53 +0000 (Mon, 22 Jun 2009)
Log Message:
-----------
moved controllers to models
Modified Paths:
--------------
code/gazebo/trunk/worlds/bandit.world
code/gazebo/trunk/worlds/bumper.world
code/gazebo/trunk/worlds/map.world
code/gazebo/trunk/worlds/models/pioneer2at.model
code/gazebo/trunk/worlds/models/pioneer2dx.model
code/gazebo/trunk/worlds/models/simplecar.model
code/gazebo/trunk/worlds/models/wizbot.model
code/gazebo/trunk/worlds/pioneer2at.world
code/gazebo/trunk/worlds/pioneer2dx.world
code/gazebo/trunk/worlds/pioneer2dx_camera.world
code/gazebo/trunk/worlds/simplecar.world
code/gazebo/trunk/worlds/terrain.world
code/gazebo/trunk/worlds/wizbot.world
Modified: code/gazebo/trunk/worlds/bandit.world
===================================================================
--- code/gazebo/trunk/worlds/bandit.world 2009-06-22 22:32:53 UTC (rev
7871)
+++ code/gazebo/trunk/worlds/bandit.world 2009-06-22 23:28:53 UTC (rev
7872)
@@ -53,15 +53,6 @@
<xyz>1 0 0.145</xyz>
<rpy>0.0 0.0 0.0</rpy>
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.34</wheelSeparation>
- <wheelDiameter>0.15</wheelDiameter>
- <torque>5</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
-
<include embedded="true">
<xi:include href="models/pioneer2dx.model" />
</include>
Modified: code/gazebo/trunk/worlds/bumper.world
===================================================================
--- code/gazebo/trunk/worlds/bumper.world 2009-06-22 22:32:53 UTC (rev
7871)
+++ code/gazebo/trunk/worlds/bumper.world 2009-06-22 23:28:53 UTC (rev
7872)
@@ -108,15 +108,6 @@
<xyz>0 0 0.145</xyz>
<rpy>0.0 0.0 0.0</rpy>
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.39</wheelSeparation>
- <wheelDiameter>0.15</wheelDiameter>
- <torque>5</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
-
<model:physical name="laser">
<xyz>0.15 0 0.18</xyz>
Modified: code/gazebo/trunk/worlds/map.world
===================================================================
--- code/gazebo/trunk/worlds/map.world 2009-06-22 22:32:53 UTC (rev 7871)
+++ code/gazebo/trunk/worlds/map.world 2009-06-22 23:28:53 UTC (rev 7872)
@@ -94,15 +94,6 @@
<xyz>0 0 0.145</xyz>
<rpy>0.0 0.0 0.0</rpy>
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.39</wheelSeparation>
- <wheelDiameter>0.15</wheelDiameter>
- <torque>5</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
-
<model:physical name="laser">
<xyz>0.15 0 0.18</xyz>
Modified: code/gazebo/trunk/worlds/models/pioneer2at.model
===================================================================
--- code/gazebo/trunk/worlds/models/pioneer2at.model 2009-06-22 22:32:53 UTC
(rev 7871)
+++ code/gazebo/trunk/worlds/models/pioneer2at.model 2009-06-22 23:28:53 UTC
(rev 7872)
@@ -15,6 +15,15 @@
<canonicalBody>chassis_body</canonicalBody>
+<controller:differential_position2d name="controller1">
+ <leftJoint>left_front_wheel_hinge</leftJoint>
+ <rightJoint>right_front_wheel_hinge</rightJoint>
+ <wheelSeparation>0.34</wheelSeparation>
+ <wheelDiameter>0.15</wheelDiameter>
+ <torque>10.0</torque>
+ <interface:position name="position_iface_0"/>
+</controller:differential_position2d>
+
<body:box name="chassis_body">
<geom:box name="chassis_geom">
<size>0.497 0.247 0.191</size>
Modified: code/gazebo/trunk/worlds/models/pioneer2dx.model
===================================================================
--- code/gazebo/trunk/worlds/models/pioneer2dx.model 2009-06-22 22:32:53 UTC
(rev 7871)
+++ code/gazebo/trunk/worlds/models/pioneer2dx.model 2009-06-22 23:28:53 UTC
(rev 7872)
@@ -12,6 +12,16 @@
<xyz>0 0 0.0</xyz>
<rpy>0.0 0.0 0.0</rpy>
+<controller:differential_position2d name="controller1">
+ <leftJoint>left_wheel_hinge</leftJoint>
+ <rightJoint>right_wheel_hinge</rightJoint>
+ <wheelSeparation>0.39</wheelSeparation>
+ <wheelDiameter>0.15</wheelDiameter>
+ <torque>5</torque>
+ <interface:position name="position_iface_0"/>
+</controller:differential_position2d>
+
+
<canonicalBody>chassis_body</canonicalBody>
<body:box name="chassis_body">
@@ -171,4 +181,5 @@
<cfm>10e-5</cfm>
</joint:ball>
+
</model:physical>
Modified: code/gazebo/trunk/worlds/models/simplecar.model
===================================================================
--- code/gazebo/trunk/worlds/models/simplecar.model 2009-06-22 22:32:53 UTC
(rev 7871)
+++ code/gazebo/trunk/worlds/models/simplecar.model 2009-06-22 23:28:53 UTC
(rev 7872)
@@ -15,6 +15,36 @@
<canonicalBody>chassis_body</canonicalBody>
+<controller:steering_position2d name="a car">
+ <wheel>
+ <joint>left_front_wheel_hinge</joint>
+ <type>steer</type>
+ <torque>1000</torque>
+ <steerTorque>1000</steerTorque>
+ </wheel>
+ <wheel>
+ <joint>right_front_wheel_hinge</joint>
+ <type>steer</type>
+ <torque>1000</torque>
+ <steerTorque>1000</steerTorque>
+ </wheel>
+ <wheel>
+ <joint>left_rear_wheel_hinge</joint>
+ <type>drive</type>
+ <torque>1000</torque>
+ </wheel>
+ <wheel>
+ <joint>right_rear_wheel_hinge</joint>
+ <type>drive</type>
+ <torque>1000</torque>
+ </wheel>
+ <steerPD>10 0</steerPD>
+ <steerMaxAngle>50</steerMaxAngle>
+ <interface:position name="position_iface_0"/>
+</controller:steering_position2d>
+
+
+
<body:box name="chassis_body">
<geom:box name="chassis_geom">
<size>2.54 0.76 0.5</size>
Modified: code/gazebo/trunk/worlds/models/wizbot.model
===================================================================
--- code/gazebo/trunk/worlds/models/wizbot.model 2009-06-22 22:32:53 UTC
(rev 7871)
+++ code/gazebo/trunk/worlds/models/wizbot.model 2009-06-22 23:28:53 UTC
(rev 7872)
@@ -16,6 +16,27 @@
<canonicalBody>chassis_body</canonicalBody>
+ <controller:holonome3sw_position2d name="controller1">
+ <wheels>
+ <radius>0.075</radius>
+ <distance>0.175</distance>
+ <torque>2</torque>
+ <swedish0>
+ <joint>wheel0_hinge</joint>
+ <alpha>0</alpha>
+ </swedish0>
+ <swedish1>
+ <joint>wheel1_hinge</joint>
+ <alpha>120</alpha>
+ </swedish1>
+ <swedish2>
+ <joint>wheel2_hinge</joint>
+ <alpha>240</alpha>
+ </swedish2>
+ </wheels>
+ <interface:position name="position_iface_0"/>
+ </controller:holonome3sw_position2d>
+
<body:cylinder name="chassis_body">
<xyz>0.0 0.0 0.0</xyz>
<rpy>0.0 0.0 0.0</rpy>
Modified: code/gazebo/trunk/worlds/pioneer2at.world
===================================================================
--- code/gazebo/trunk/worlds/pioneer2at.world 2009-06-22 22:32:53 UTC (rev
7871)
+++ code/gazebo/trunk/worlds/pioneer2at.world 2009-06-22 23:28:53 UTC (rev
7872)
@@ -75,16 +75,6 @@
<xyz>0 0 0.145</xyz>
<rpy>0.0 0.0 0.0</rpy>
- <controller:differential_position2d name="controller1">
- <leftJoint>left_front_wheel_hinge</leftJoint>
- <rightJoint>right_front_wheel_hinge</rightJoint>
- <wheelSeparation>0.34</wheelSeparation>
- <wheelDiameter>0.15</wheelDiameter>
- <torque>10.0</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
-
-
<!--<model:physical name="laser">
<xyz>0 0 0.16</xyz>
Modified: code/gazebo/trunk/worlds/pioneer2dx.world
===================================================================
--- code/gazebo/trunk/worlds/pioneer2dx.world 2009-06-22 22:32:53 UTC (rev
7871)
+++ code/gazebo/trunk/worlds/pioneer2dx.world 2009-06-22 23:28:53 UTC (rev
7872)
@@ -104,15 +104,6 @@
<rpy>0.0 0.0 90.0</rpy>
<collide>all</collide>
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.39</wheelSeparation>
- <wheelDiameter>0.15</wheelDiameter>
- <torque>5</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
-
<model:physical name="laser">
<xyz>0.15 0 0.18</xyz>
Modified: code/gazebo/trunk/worlds/pioneer2dx_camera.world
===================================================================
--- code/gazebo/trunk/worlds/pioneer2dx_camera.world 2009-06-22 22:32:53 UTC
(rev 7871)
+++ code/gazebo/trunk/worlds/pioneer2dx_camera.world 2009-06-22 23:28:53 UTC
(rev 7872)
@@ -86,15 +86,6 @@
<xyz>0 0 0.145</xyz>
<rpy>0.0 0.0 0.0</rpy>
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.34</wheelSeparation>
- <wheelDiameter>0.15</wheelDiameter>
- <torque>5</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
-
<model:physical name="sonyvid30_model">
<xyz>0.15 0 0.09</xyz>
Modified: code/gazebo/trunk/worlds/simplecar.world
===================================================================
--- code/gazebo/trunk/worlds/simplecar.world 2009-06-22 22:32:53 UTC (rev
7871)
+++ code/gazebo/trunk/worlds/simplecar.world 2009-06-22 23:28:53 UTC (rev
7872)
@@ -75,33 +75,6 @@
<xyz>0 0 0.145</xyz>
<rpy>0.0 0.0 0.0</rpy>
- <controller:steering_position2d name="a car">
- <wheel>
- <joint>left_front_wheel_hinge</joint>
- <type>steer</type>
- <torque>1000</torque>
- <steerTorque>1000</steerTorque>
- </wheel>
- <wheel>
- <joint>right_front_wheel_hinge</joint>
- <type>steer</type>
- <torque>1000</torque>
- <steerTorque>1000</steerTorque>
- </wheel>
- <wheel>
- <joint>left_rear_wheel_hinge</joint>
- <type>drive</type>
- <torque>1000</torque>
- </wheel>
- <wheel>
- <joint>right_rear_wheel_hinge</joint>
- <type>drive</type>
- <torque>1000</torque>
- </wheel>
- <steerPD>10 0</steerPD>
- <steerMaxAngle>50</steerMaxAngle>
- <interface:position name="position_iface_0"/>
- </controller:steering_position2d>
<!--
The include should be last within a model. All previous statements
Modified: code/gazebo/trunk/worlds/terrain.world
===================================================================
--- code/gazebo/trunk/worlds/terrain.world 2009-06-22 22:32:53 UTC (rev
7871)
+++ code/gazebo/trunk/worlds/terrain.world 2009-06-22 23:28:53 UTC (rev
7872)
@@ -83,14 +83,6 @@
<model:physical name="pioneer2dx_model2">
<xyz>214.76 -79.34 1.29</xyz>
<rpy>0 0 20</rpy>
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.34</wheelSeparation>
- <wheelDiameter>0.15</wheelDiameter>
- <torque>5</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
<model:physical name="laser_model">
<xyz>0 0 0.2</xyz>
Modified: code/gazebo/trunk/worlds/wizbot.world
===================================================================
--- code/gazebo/trunk/worlds/wizbot.world 2009-06-22 22:32:53 UTC (rev
7871)
+++ code/gazebo/trunk/worlds/wizbot.world 2009-06-22 23:28:53 UTC (rev
7872)
@@ -99,15 +99,6 @@
<xyz>1 0 0.145</xyz>
<rpy>0.0 0.0 0.0</rpy>
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.34</wheelSeparation>
- <wheelDiameter>0.15</wheelDiameter>
- <torque>5</torque>
- <interface:position name="position_iface_1"/>
- </controller:differential_position2d>
-
<model:physical name="laser">
<xyz>0.15 0 0.18</xyz>
@@ -129,30 +120,6 @@
<model:physical name="wizbot_model1">
<xyz>0 0 0.1</xyz>
<rpy>0 0 0</rpy>
-
- <controller:holonome3sw_position2d name="controller1">
-
- <wheels>
- <radius>0.075</radius>
- <distance>0.175</distance>
- <torque>2</torque>
- <swedish0>
- <joint>wheel0_hinge</joint>
- <alpha>0</alpha>
- </swedish0>
- <swedish1>
- <joint>wheel1_hinge</joint>
- <alpha>120</alpha>
- </swedish1>
- <swedish2>
- <joint>wheel2_hinge</joint>
- <alpha>240</alpha>
- </swedish2>
- </wheels>
-
- <interface:position name="position_iface_0"/>
-
- </controller:holonome3sw_position2d>
<include embedded="true">
<xi:include href="models/wizbot.model" />
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