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" /> This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. ------------------------------------------------------------------------------ Are you an open source citizen? Join us for the Open Source Bridge conference! Portland, OR, June 17-19. Two days of sessions, one day of unconference: $250. Need another reason to go? 24-hour hacker lounge. Register today! http://ad.doubleclick.net/clk;215844324;13503038;v?http://opensourcebridge.org _______________________________________________ Playerstage-commit mailing list Playerstage-commit@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-commit