Revision: 7876
http://playerstage.svn.sourceforge.net/playerstage/?rev=7876&view=rev
Author: robotos
Date: 2009-06-23 07:38:04 +0000 (Tue, 23 Jun 2009)
Log Message:
-----------
moved epuck controller to the model file, epuck camera as a new model. I
couldnt test these changes, hope doesnt break.
Modified Paths:
--------------
code/gazebo/trunk/player_cfgs/epuck.cfg
code/gazebo/trunk/player_cfgs/epuck_single.cfg
code/gazebo/trunk/worlds/epuck.world
code/gazebo/trunk/worlds/epuck_single.world
code/gazebo/trunk/worlds/models/epuck_new.model
Added Paths:
-----------
code/gazebo/trunk/worlds/models/epuck_camera.model
Modified: code/gazebo/trunk/player_cfgs/epuck.cfg
===================================================================
--- code/gazebo/trunk/player_cfgs/epuck.cfg 2009-06-23 07:25:07 UTC (rev
7875)
+++ code/gazebo/trunk/player_cfgs/epuck.cfg 2009-06-23 07:38:04 UTC (rev
7876)
@@ -15,222 +15,222 @@
(
name "gazebo"
provides ["7001:position2d:0"]
- gz_id "robot1-position_iface_0"
+ gz_id "robot1::position_iface_0"
)
driver
(
name "gazebo"
provides ["7001:ir:0"]
- gz_id "robot1-irarray_iface_0"
+ gz_id "robot1::irarray_iface_0"
)
driver
(
name "gazebo"
provides ["7002:position2d:0"]
- gz_id "robot2-position_iface_0"
+ gz_id "robot2::position_iface_0"
)
driver
(
name "gazebo"
provides ["7002:ir:0"]
- gz_id "robot2-irarray_iface_0"
+ gz_id "robot2::irarray_iface_0"
)
driver
(
name "gazebo"
provides ["7003:position2d:0"]
- gz_id "robot3-position_iface_0"
+ gz_id "robot3::position_iface_0"
)
driver
(
name "gazebo"
provides ["7003:ir:0"]
- gz_id "robot3-irarray_iface_0"
+ gz_id "robot3::irarray_iface_0"
)
driver
(
name "gazebo"
provides ["7004:position2d:0"]
- gz_id "robot4-position_iface_0"
+ gz_id "robot4::position_iface_0"
)
driver
(
name "gazebo"
provides ["7004:ir:0"]
- gz_id "robot4-irarray_iface_0"
+ gz_id "robot4::irarray_iface_0"
)
driver
(
name "gazebo"
provides ["7005:position2d:0"]
- gz_id "robot5-position_iface_0"
+ gz_id "robot5::position_iface_0"
)
driver
(
name "gazebo"
provides ["7005:ir:0"]
- gz_id "robot5-irarray_iface_0"
+ gz_id "robot5::irarray_iface_0"
)
driver
(
name "gazebo"
provides ["7006:position2d:0"]
- gz_id "robot6-position_iface_0"
+ gz_id "robot6::position_iface_0"
)
driver
(
name "gazebo"
provides ["7006:ir:0"]
- gz_id "robot6-irarray_iface_0"
+ gz_id "robot6::irarray_iface_0"
)
driver
(
name "gazebo"
provides ["7007:position2d:0"]
- gz_id "robot7-position_iface_0"
+ gz_id "robot7::position_iface_0"
)
driver
(
name "gazebo"
provides ["7007:ir:0"]
- gz_id "robot7-irarray_iface_0"
+ gz_id "robot7::irarray_iface_0"
)
driver
(
name "gazebo"
provides ["7008:position2d:0"]
- gz_id "robot8-position_iface_0"
+ gz_id "robot8::position_iface_0"
)
driver
(
name "gazebo"
provides ["7008:ir:0"]
- gz_id "robot8-irarray_iface_0"
+ gz_id "robot8::irarray_iface_0"
)
driver
(
name "gazebo"
provides ["7009:position2d:0"]
- gz_id "robot9-position_iface_0"
+ gz_id "robot9::position_iface_0"
)
driver
(
name "gazebo"
provides ["7009:ir:0"]
- gz_id "robot9-irarray_iface_0"
+ gz_id "robot9::irarray_iface_0"
)
driver
(
name "gazebo"
provides ["7010:position2d:0"]
- gz_id "robot10-position_iface_0"
+ gz_id "robot10::position_iface_0"
)
driver
(
name "gazebo"
provides ["7010:ir:0"]
- gz_id "robot10-irarray_iface_0"
+ gz_id "robot10::irarray_iface_0"
)
driver
(
name "gazebo"
provides ["7011:position2d:0"]
- gz_id "robot11-position_iface_0"
+ gz_id "robot11::position_iface_0"
)
driver
(
name "gazebo"
provides ["7011:ir:0"]
- gz_id "robot11-irarray_iface_0"
+ gz_id "robot11::irarray_iface_0"
)
driver
(
name "gazebo"
provides ["7012:position2d:0"]
- gz_id "robot12-position_iface_0"
+ gz_id "robot12::position_iface_0"
)
driver
(
name "gazebo"
provides ["7012:ir:0"]
- gz_id "robot12-irarray_iface_0"
+ gz_id "robot12::irarray_iface_0"
)
driver
(
name "gazebo"
provides ["7013:position2d:0"]
- gz_id "robot13-position_iface_0"
+ gz_id "robot13::position_iface_0"
)
driver
(
name "gazebo"
provides ["7013:ir:0"]
- gz_id "robot13-irarray_iface_0"
+ gz_id "robot13::irarray_iface_0"
)
driver
(
name "gazebo"
provides ["7014:position2d:0"]
- gz_id "robot14-position_iface_0"
+ gz_id "robot14::position_iface_0"
)
driver
(
name "gazebo"
provides ["7014:ir:0"]
- gz_id "robot14-irarray_iface_0"
+ gz_id "robot14::irarray_iface_0"
)
driver
(
name "gazebo"
provides ["7015:position2d:0"]
- gz_id "robot15-position_iface_0"
+ gz_id "robot15::position_iface_0"
)
driver
(
name "gazebo"
provides ["7015:ir:0"]
- gz_id "robot15-irarray_iface_0"
+ gz_id "robot15::irarray_iface_0"
)
driver
(
name "gazebo"
provides ["7016:position2d:0"]
- gz_id "robot16-position_iface_0"
+ gz_id "robot16::position_iface_0"
)
driver
(
name "gazebo"
provides ["7016:ir:0"]
- gz_id "robot16-irarray_iface_0"
+ gz_id "robot16::irarray_iface_0"
)
Modified: code/gazebo/trunk/player_cfgs/epuck_single.cfg
===================================================================
--- code/gazebo/trunk/player_cfgs/epuck_single.cfg 2009-06-23 07:25:07 UTC
(rev 7875)
+++ code/gazebo/trunk/player_cfgs/epuck_single.cfg 2009-06-23 07:38:04 UTC
(rev 7876)
@@ -15,19 +15,19 @@
(
name "gazebo"
provides ["6665:position2d:0"]
- gz_id "robot1-position_iface_0"
+ gz_id "robot1::position_iface_0"
)
driver
(
name "gazebo"
provides ["6665:ir:0"]
- gz_id "robot1-irarray_iface_0"
+ gz_id "robot1::irarray_iface_0"
)
driver
(
name "gazebo"
provides ["6665:camera:0"]
- gz_id "robot1-camera_iface_0"
+ gz_id "robot1::camera::camera_iface_0"
)
Modified: code/gazebo/trunk/worlds/epuck.world
===================================================================
--- code/gazebo/trunk/worlds/epuck.world 2009-06-23 07:25:07 UTC (rev
7875)
+++ code/gazebo/trunk/worlds/epuck.world 2009-06-23 07:38:04 UTC (rev
7876)
@@ -167,35 +167,12 @@
<xyz>-0.1 0.2 0.0</xyz>
<rpy>0 0 -10</rpy>
<static>false</static>
-
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.052</wheelSeparation>
- <wheelDiameter>0.042</wheelDiameter>
- <torque>10</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
-
- <model:physical name="cam">
- <body:empty name="epuck_camera">
- <rpy>0.0 0.0 180.0</rpy>
- <xyz>-0.026 0.0 0.030</xyz>
- <sensor:camera name="epuck_cam_sensor">
- <imageSize>200 150</imageSize>
- <hfov>60</hfov>
- <nearClip>0.02</nearClip>
- <farClip>20</farClip>
- <saveFrames>false</saveFrames>
- <saveFramePath>frames</saveFramePath>
- </sensor:camera>
- </body:empty>
-
- <attach>
- <parentBody>epuck_chassis</parentBody>
- <myBody>epuck_camera</myBody>
- </attach>
- </model:physical>
+
+ <model:physical name="camera">
+ <include embedded="true">
+ <xi:include href="models/epuck_camera.model"/>
+ </include>
+ </model:physical>
<include embedded="true">
<xi:include href="models/epuck_new.model"/>
</include>
@@ -205,16 +182,7 @@
<xyz>0.1 0.2 0.0</xyz>
<rpy>0 0 -36</rpy>
<static>false</static>
-
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.052</wheelSeparation>
- <wheelDiameter>0.042</wheelDiameter>
- <torque>10</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
-
+
<include embedded="true">
<xi:include href="models/epuck_new.model"/>
</include>
@@ -224,16 +192,7 @@
<xyz>-0.3 0.2 0.0</xyz>
<rpy>0 0 180</rpy>
<static>false</static>
-
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.052</wheelSeparation>
- <wheelDiameter>0.042</wheelDiameter>
- <torque>10</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
-
+
<include embedded="true">
<xi:include href="models/epuck_new.model"/>
</include>
@@ -243,16 +202,7 @@
<xyz>0.3 0.2 0.0</xyz>
<rpy>0 0 -90</rpy>
<static>false</static>
-
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.052</wheelSeparation>
- <wheelDiameter>0.042</wheelDiameter>
- <torque>10</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
-
+
<include embedded="true">
<xi:include href="models/epuck_new.model"/>
</include>
@@ -262,16 +212,7 @@
<xyz>-0.5 0.2 0.0</xyz>
<rpy>0 0 90</rpy>
<static>false</static>
-
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.052</wheelSeparation>
- <wheelDiameter>0.042</wheelDiameter>
- <torque>10</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
-
+
<include embedded="true">
<xi:include href="models/epuck_new.model"/>
</include>
@@ -281,16 +222,7 @@
<xyz>0.5 0.2 0.0</xyz>
<rpy>0 0 0</rpy>
<static>false</static>
-
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.052</wheelSeparation>
- <wheelDiameter>0.042</wheelDiameter>
- <torque>10</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
-
+
<include embedded="true">
<xi:include href="models/epuck_new.model"/>
</include>
@@ -300,16 +232,7 @@
<xyz>-0.7 0.2 0.0</xyz>
<rpy>0 0 -220</rpy>
<static>false</static>
-
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.052</wheelSeparation>
- <wheelDiameter>0.042</wheelDiameter>
- <torque>10</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
-
+
<include embedded="true">
<xi:include href="models/epuck_new.model"/>
</include>
@@ -319,16 +242,7 @@
<xyz>0.7 0.2 0.0</xyz>
<rpy>0 0 220</rpy>
<static>false</static>
-
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.052</wheelSeparation>
- <wheelDiameter>0.042</wheelDiameter>
- <torque>10</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
-
+
<include embedded="true">
<xi:include href="models/epuck_new.model"/>
</include>
@@ -338,16 +252,7 @@
<xyz>-0.1 -0.2 0.0</xyz>
<rpy>0 0 -120</rpy>
<static>false</static>
-
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.052</wheelSeparation>
- <wheelDiameter>0.042</wheelDiameter>
- <torque>10</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
-
+
<include embedded="true">
<xi:include href="models/epuck_new.model"/>
</include>
@@ -358,15 +263,6 @@
<rpy>0 0 120</rpy>
<static>false</static>
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.052</wheelSeparation>
- <wheelDiameter>0.042</wheelDiameter>
- <torque>10</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
-
<include embedded="true">
<xi:include href="models/epuck_new.model"/>
</include>
@@ -377,15 +273,6 @@
<rpy>0 0 -50</rpy>
<static>false</static>
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.052</wheelSeparation>
- <wheelDiameter>0.042</wheelDiameter>
- <torque>10</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
-
<include embedded="true">
<xi:include href="models/epuck_new.model"/>
</include>
@@ -396,15 +283,6 @@
<rpy>0 0 50</rpy>
<static>false</static>
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.052</wheelSeparation>
- <wheelDiameter>0.042</wheelDiameter>
- <torque>10</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
-
<include embedded="true">
<xi:include href="models/epuck_new.model"/>
</include>
@@ -415,15 +293,6 @@
<rpy>0 0 -80</rpy>
<static>false</static>
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.052</wheelSeparation>
- <wheelDiameter>0.042</wheelDiameter>
- <torque>10</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
-
<include embedded="true">
<xi:include href="models/epuck_new.model"/>
</include>
@@ -434,15 +303,6 @@
<rpy>0 0 80</rpy>
<static>false</static>
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.052</wheelSeparation>
- <wheelDiameter>0.042</wheelDiameter>
- <torque>10</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
-
<include embedded="true">
<xi:include href="models/epuck_new.model"/>
</include>
@@ -453,17 +313,6 @@
<rpy>0 0 20</rpy>
<static>false</static>
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.052</wheelSeparation>
- <wheelDiameter>0.042</wheelDiameter>
- <torque>10</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
-
-
-
<include embedded="true">
<xi:include href="models/epuck_new.model"/>
</include>
@@ -474,15 +323,6 @@
<rpy>0 0 -20</rpy>
<static>false</static>
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.052</wheelSeparation>
- <wheelDiameter>0.042</wheelDiameter>
- <torque>10</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
-
<include embedded="true">
<xi:include href="models/epuck_new.model"/>
</include>
Modified: code/gazebo/trunk/worlds/epuck_single.world
===================================================================
--- code/gazebo/trunk/worlds/epuck_single.world 2009-06-23 07:25:07 UTC (rev
7875)
+++ code/gazebo/trunk/worlds/epuck_single.world 2009-06-23 07:38:04 UTC (rev
7876)
@@ -167,39 +167,12 @@
<xyz>-0.1 0.2 0.0</xyz>
<rpy>0 0 -10</rpy>
<static>false</static>
-
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.052</wheelSeparation>
- <wheelDiameter>0.042</wheelDiameter>
- <torque>10</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
-
- <model:physical name="cam">
- <body:empty name="epuck_camera">
- <rpy>0.0 0.0 180.0</rpy>
- <xyz>-0.026 0.0 0.030</xyz>
- <sensor:camera name="epuck_cam_sensor">
- <imageSize>200 150</imageSize>
- <hfov>60</hfov>
- <nearClip>0.02</nearClip>
- <farClip>20</farClip>
- <saveFrames>false</saveFrames>
- <saveFramePath>frames</saveFramePath>
-
- <controller:generic_camera
name="epuck_camera_controller">
- <interface:camera
name="camera_iface_0"/>
- </controller:generic_camera>
- </sensor:camera>
- </body:empty>
-
- <attach>
- <parentBody>epuck_chassis</parentBody>
- <myBody>epuck_camera</myBody>
- </attach>
- </model:physical>
+
+ <model:physical name="camera">
+ <include embedded="true">
+ <xi:include href="models/epuck_camera.model"/>
+ </include>
+ </model:physical>
<include embedded="true">
<xi:include href="models/epuck_new.model"/>
</include>
Added: code/gazebo/trunk/worlds/models/epuck_camera.model
===================================================================
--- code/gazebo/trunk/worlds/models/epuck_camera.model
(rev 0)
+++ code/gazebo/trunk/worlds/models/epuck_camera.model 2009-06-23 07:38:04 UTC
(rev 7876)
@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+<!-- epuck Camera -->
+<model:physical name="camera"
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model";
+
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller";
+
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface";
+
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor";
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body";
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom";
+
xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint";>
+
+ <xyz>0 0 0.0</xyz>
+ <rpy>0 0 0</rpy>
+
+ <body:empty name="epuck_camera">
+ <rpy>0.0 0.0 180.0</rpy>
+ <xyz>-0.026 0.0 0.030</xyz>
+ <sensor:camera name="epuck_cam_sensor">
+ <imageSize>200 150</imageSize>
+ <hfov>60</hfov>
+ <nearClip>0.02</nearClip>
+ <farClip>20</farClip>
+ <saveFrames>false</saveFrames>
+ <saveFramePath>frames</saveFramePath>
+ </sensor:camera>
+ </body:empty>
+
+ <attach>
+ <parentBody>epuck_chassis</parentBody>
+ <myBody>epuck_camera</myBody>
+ </attach>
+
+</model:physical>
Modified: code/gazebo/trunk/worlds/models/epuck_new.model
===================================================================
--- code/gazebo/trunk/worlds/models/epuck_new.model 2009-06-23 07:25:07 UTC
(rev 7875)
+++ code/gazebo/trunk/worlds/models/epuck_new.model 2009-06-23 07:38:04 UTC
(rev 7876)
@@ -14,6 +14,15 @@
<rpy>0 0 0</rpy>
<canonicalBody>epuck_chassis</canonicalBody>
+ <controller:differential_position2d name="controller1">
+ <leftJoint>left_wheel_hinge</leftJoint>
+ <rightJoint>right_wheel_hinge</rightJoint>
+ <wheelSeparation>0.052</wheelSeparation>
+ <wheelDiameter>0.042</wheelDiameter>
+ <torque>10</torque>
+ <interface:position name="position_iface_0"/>
+ </controller:differential_position2d>
+
<body:box name="epuck_chassis">
<xyz>0.0 0.0 0.02</xyz>
<geom:box name="chassis_geom">
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