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Commit bec09b72 authored by Sergi Hernandez's avatar Sergi Hernandez
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Solved some remmaping problems with the module actions.

parent 49f3ab22
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1 merge request!8Kinetic migration
...@@ -12,9 +12,9 @@ ...@@ -12,9 +12,9 @@
type="action_client" type="action_client"
output="screen" output="screen"
ns="/darwin"> ns="/darwin">
<remap from="/darwin/action_client/action_client/motion_action" <remap from="/darwin/action_client/motion_action"
to="/darwin/robot/motion_action"/> to="/darwin/robot/motion_action"/>
<remap from="/darwin/action_client/action_client/set_servo_modules" <remap from="/darwin/action_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/> to="/darwin/robot/set_servo_modules"/>
</node> </node>
......
<launch> <launch>
<arg name="robot" default="darwin" /> <arg name="robot" default="darwin" />
<arg name="environment" default="charge_env" /> <arg name="environment" default="obstacles_env_empty" />
<include file="$(find darwin_description)/launch/darwin_sim.launch"> <include file="$(find darwin_description)/launch/darwin_sim.launch">
<arg name="robot" value="$(arg robot)" /> <arg name="robot" value="$(arg robot)" />
</include> </include>
<include file="$(find darwin_description)/launch/charge_env.launch"> <include file="$(find darwin_description)/launch/environment.launch">
<arg name="environment" value="$(arg environment)" /> <arg name="environment" value="$(arg environment)" />
</include> </include>
...@@ -17,9 +17,9 @@ ...@@ -17,9 +17,9 @@
type="action_client" type="action_client"
output="screen" output="screen"
ns="/darwin"> ns="/darwin">
<remap from="/darwin/action_client/action_client/motion_action" <remap from="/darwin/action_client/motion_action"
to="/darwin/robot/motion_action"/> to="/darwin/robot/motion_action"/>
<remap from="/darwin/action_client/action_client/set_servo_modules" <remap from="/darwin/action_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/> to="/darwin/robot/set_servo_modules"/>
</node> </node>
...@@ -29,12 +29,12 @@ ...@@ -29,12 +29,12 @@
type="joints_client" type="joints_client"
output="screen" output="screen"
ns="/darwin"> ns="/darwin">
<remap from="/darwin/joints_client/joint_trajectory/joint_trajectory_action" <remap from="/darwin/joints_client/joint_trajectory_action"
to="/darwin/robot/joint_trajectory"/> to="/darwin/robot/joint_trajectory"/>
<remap from="/darwin/joints_client/joint_trajectory/set_servo_modules" <remap from="/darwin/joints_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/> to="/darwin/robot/set_servo_modules"/>
<remap from="/darwin/joints_client/joint_trajectory/joint_state" <remap from="/joints_client/joint_states"
to="/darwin/robot/joint_state"/> to="/darwin/joint_states"/>
</node> </node>
<!-- launch the walk client node --> <!-- launch the walk client node -->
...@@ -60,17 +60,17 @@ ...@@ -60,17 +60,17 @@
<param name="FOOT_HEIGHT" value="0.04"/> <param name="FOOT_HEIGHT" value="0.04"/>
<param name="MAX_VEL" value="0.01"/> <param name="MAX_VEL" value="0.01"/>
<param name="MAX_ROT_VEL" value="0.01"/> <param name="MAX_ROT_VEL" value="0.01"/>
<remap from="/darwin/walk_client/walk_client/cmd_vel" <remap from="/walk_client/cmd_vel"
to="/darwin/robot/cmd_vel"/> to="/darwin/robot/cmd_vel"/>
<remap from="/darwin/walk_client/walk_client/set_walk_params" <remap from="/darwin/walk_client/set_walk_params"
to="/darwin/robot/set_walk_params"/> to="/darwin/robot/set_walk_params"/>
<remap from="/darwin/walk_client/walk_client/get_walk_params" <remap from="/darwin/walk_client/get_walk_params"
to="/darwin/robot/get_walk_params"/> to="/darwin/robot/get_walk_params"/>
<remap from="/darwin/walk_client/walk_client/set_servo_modules" <remap from="/darwin/walk_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/> to="/darwin/robot/set_servo_modules"/>
<remap from="/darwin/walk_client/walk_client/joint_states" <remap from="/walk_client/joint_states"
to="/darwin/joint_states"/> to="/darwin/joint_states"/>
<remap from="/darwin/walk_client/walk_client/fallen_state" <remap from="/walk_client/fallen_state"
to="/darwin/robot/fallen_state"/> to="/darwin/robot/fallen_state"/>
</node> </node>
...@@ -80,19 +80,19 @@ ...@@ -80,19 +80,19 @@
type="head_tracking_client" type="head_tracking_client"
output="screen" output="screen"
ns="/darwin"> ns="/darwin">
<remap from="/darwin/head_tracking_client/head_tracking_client/head_tracking_action" <remap from="/darwin/head_tracking_client/head_tracking_action"
to="/darwin/robot/head_follow_target"/> to="/darwin/robot/head_follow_target"/>
<remap from="/darwin/head_tracking_client/head_tracking_client/head_target" <remap from="/head_tracking_client/head_target"
to="/darwin/robot/head_target"/> to="/darwin/robot/head_target"/>
<remap from="/darwin/head_tracking_client/head_tracking_client/set_servo_modules" <remap from="/darwin/head_tracking_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/> to="/darwin/robot/set_servo_modules"/>
<remap from="/darwin/head_tracking_client/head_tracking_client/set_pan_pid" <remap from="/darwin/head_tracking_client/set_pan_pid"
to="/darwin/robot/set_pan_pid"/> to="/darwin/robot/set_pan_pid"/>
<remap from="/darwin/head_tracking_client/head_tracking_client/get_pan_pid" <remap from="/darwin/head_tracking_client/get_pan_pid"
to="/darwin/robot/get_pan_pid"/> to="/darwin/robot/get_pan_pid"/>
<remap from="/darwin/head_tracking_client/head_tracking_client/set_tilt_pid" <remap from="/darwin/head_tracking_client/set_tilt_pid"
to="/darwin/robot/set_tilt_pid"/> to="/darwin/robot/set_tilt_pid"/>
<remap from="/darwin/head_tracking_client/head_tracking_client/get_tilt_pid" <remap from="/darwin/head_tracking_client/get_tilt_pid"
to="/darwin/robot/get_tilt_pid"/> to="/darwin/robot/get_tilt_pid"/>
</node> </node>
...@@ -102,15 +102,15 @@ ...@@ -102,15 +102,15 @@
type="joints_cart_client" type="joints_cart_client"
output="screen" output="screen"
ns="/darwin"> ns="/darwin">
<remap from="/darwin/left_joints_cart_client/joints_cart_client/joints_action" <remap from="/darwin/left_joints_cart_client/joints_action"
to="/darwin/robot/joint_trajectory"/> to="/darwin/robot/joint_trajectory"/>
<remap from="/darwin/left_joints_cart_client/joints_cart_client/set_servo_modules" <remap from="/darwin/left_joints_cart_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/> to="/darwin/robot/set_servo_modules"/>
<remap from="/darwin/left_joints_cart_client/joints_cart_client/get_arm_ik" <remap from="/darwin/left_joints_cart_client/get_arm_ik"
to="/darwin/left_arm_kinematics/get_ik"/> to="/darwin/left_arm_kinematics/get_ik"/>
<remap from="/darwin/left_joints_cart_client/joints_cart_client/arm_ik_set_params" <remap from="/darwin/left_joints_cart_client/arm_ik_set_params"
to="/darwin/left_arm_kinematics/set_parameters"/> to="/darwin/left_arm_kinematics/set_parameters"/>
<remap from="/darwin/left_joints_cart_client/joints_cart_client/joint_states" <remap from="/left_joints_cart_client/joint_states"
to="/darwin/joint_states"/> to="/darwin/joint_states"/>
</node> </node>
...@@ -132,15 +132,15 @@ ...@@ -132,15 +132,15 @@
type="joints_cart_client" type="joints_cart_client"
output="screen" output="screen"
ns="/darwin"> ns="/darwin">
<remap from="/darwin/right_joints_cart_client/joints_cart_client/joints_action" <remap from="/darwin/right_joints_cart_client/joints_action"
to="/darwin/robot/joint_trajectory"/> to="/darwin/robot/joint_trajectory"/>
<remap from="/darwin/right_joints_cart_client/joints_cart_client/set_servo_modules" <remap from="/darwin/right_joints_cart_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/> to="/darwin/robot/set_servo_modules"/>
<remap from="/darwin/right_joints_cart_client/joints_cart_client/get_arm_ik" <remap from="/darwin/right_joints_cart_client/joints_cart_client/get_arm_ik"
to="/darwin/right_arm_kinematics/get_ik"/> to="/darwin/right_arm_kinematics/get_ik"/>
<remap from="/darwin/right_joints_cart_client/joints_cart_client/arm_ik_set_params" <remap from="/darwin/right_joints_cart_client/arm_ik_set_params"
to="/darwin/right_arm_kinematics/set_parameters"/> to="/darwin/right_arm_kinematics/set_parameters"/>
<remap from="/darwin/right_joints_cart_client/joints_cart_client/joint_states" <remap from="/right_joints_cart_client/joint_states"
to="/darwin/joint_states"/> to="/darwin/joint_states"/>
</node> </node>
...@@ -162,13 +162,13 @@ ...@@ -162,13 +162,13 @@
type="gripper_client" type="gripper_client"
output="screen" output="screen"
ns="/darwin"> ns="/darwin">
<remap from="/darwin/gripper_client/left_gripper/gripper_control" <remap from="/darwin/left_gripper/gripper_control"
to="/darwin/robot/left_gripper"/> to="/darwin/robot/left_gripper"/>
<remap from="/darwin/gripper_client/right_gripper/gripper_control" <remap from="/darwin/right_gripper/gripper_control"
to="/darwin/robot/right_gripper"/> to="/darwin/robot/right_gripper"/>
<remap from="/darwin/gripper_client/left_gripper/set_servo_modules" <remap from="/darwin/left_gripper/set_servo_modules"
to="/darwin/robot/set_servo_modules"/> to="/darwin/robot/set_servo_modules"/>
<remap from="/darwin/gripper_client/right_gripper/set_servo_modules" <remap from="/darwin/right_gripper/set_servo_modules"
to="/darwin/robot/set_servo_modules"/> to="/darwin/robot/set_servo_modules"/>
</node> </node>
......
...@@ -12,13 +12,13 @@ ...@@ -12,13 +12,13 @@
type="gripper_client" type="gripper_client"
output="screen" output="screen"
ns="/darwin"> ns="/darwin">
<remap from="/darwin/gripper_client/left_gripper/gripper_control" <remap from="/darwin/left_gripper/gripper_control"
to="/darwin/robot/left_gripper"/> to="/darwin/robot/left_gripper"/>
<remap from="/darwin/gripper_client/right_gripper/gripper_control" <remap from="/darwin/right_gripper/gripper_control"
to="/darwin/robot/right_gripper"/> to="/darwin/robot/right_gripper"/>
<remap from="/darwin/gripper_client/left_gripper/set_servo_modules" <remap from="/darwin/left_gripper/set_servo_modules"
to="/darwin/robot/set_servo_modules"/> to="/darwin/robot/set_servo_modules"/>
<remap from="/darwin/gripper_client/right_gripper/set_servo_modules" <remap from="/darwin/right_gripper/set_servo_modules"
to="/darwin/robot/set_servo_modules"/> to="/darwin/robot/set_servo_modules"/>
</node> </node>
......
...@@ -12,19 +12,19 @@ ...@@ -12,19 +12,19 @@
type="head_tracking_client" type="head_tracking_client"
output="screen" output="screen"
ns="/darwin"> ns="/darwin">
<remap from="/darwin/head_tracking_client/head_tracking_client/head_tracking_action" <remap from="/head_tracking_client/head_tracking_action"
to="/darwin/robot/head_follow_target"/> to="/darwin/robot/head_follow_target"/>
<remap from="/darwin/head_tracking_client/head_tracking_client/head_target" <remap from="/darwin/head_tracking_client/head_target"
to="/darwin/robot/head_target"/> to="/darwin/robot/head_target"/>
<remap from="/darwin/head_tracking_client/head_tracking_client/set_servo_modules" <remap from="/darwin/head_tracking_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/> to="/darwin/robot/set_servo_modules"/>
<remap from="/darwin/head_tracking_client/head_tracking_client/set_pan_pid" <remap from="/darwin/head_tracking_client/set_pan_pid"
to="/darwin/robot/set_pan_pid"/> to="/darwin/robot/set_pan_pid"/>
<remap from="/darwin/head_tracking_client/head_tracking_client/get_pan_pid" <remap from="/darwin/head_tracking_client/get_pan_pid"
to="/darwin/robot/get_pan_pid"/> to="/darwin/robot/get_pan_pid"/>
<remap from="/darwin/head_tracking_client/head_tracking_client/set_tilt_pid" <remap from="/darwin/head_tracking_client/set_tilt_pid"
to="/darwin/robot/set_tilt_pid"/> to="/darwin/robot/set_tilt_pid"/>
<remap from="/darwin/head_tracking_client/head_tracking_client/get_tilt_pid" <remap from="/darwin/head_tracking_client/get_tilt_pid"
to="/darwin/robot/get_tilt_pid"/> to="/darwin/robot/get_tilt_pid"/>
</node> </node>
......
...@@ -12,12 +12,12 @@ ...@@ -12,12 +12,12 @@
type="joints_client" type="joints_client"
output="screen" output="screen"
ns="/darwin"> ns="/darwin">
<remap from="/darwin/joints_client/joint_trajectory/joint_trajectory_action" <remap from="/darwin/joints_client/joint_trajectory_action"
to="/darwin/robot/joint_trajectory"/> to="/darwin/robot/joint_trajectory"/>
<remap from="/darwin/joints_client/joint_trajectory/set_servo_modules" <remap from="/darwin/joints_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/> to="/darwin/robot/set_servo_modules"/>
<remap from="/darwin/joints_client/joint_trajectory/joint_state" <remap from="/darwin/joints_client/joint_states"
to="/darwin/robot/joint_state"/> to="/darwin/joint_states"/>
</node> </node>
<!-- launch dynamic reconfigure --> <!-- launch dynamic reconfigure -->
......
...@@ -12,15 +12,15 @@ ...@@ -12,15 +12,15 @@
type="joints_cart_client" type="joints_cart_client"
output="screen" output="screen"
ns="/darwin"> ns="/darwin">
<remap from="/darwin/joints_cart_client/joints_cart_client/joints_action" <remap from="/darwin/joints_cart_client/joints_action"
to="/darwin/robot/joint_trajectory"/> to="/darwin/robot/joint_trajectory"/>
<remap from="/darwin/joints_cart_client/joints_cart_client/set_servo_modules" <remap from="/darwin/joints_cart_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/> to="/darwin/robot/set_servo_modules"/>
<remap from="/darwin/joints_cart_client/joints_cart_client/get_arm_ik" <remap from="/darwin/joints_cart_client/get_arm_ik"
to="/darwin/left_arm_kinematics/get_ik"/> to="/darwin/left_arm_kinematics/get_ik"/>
<remap from="/darwin/joints_cart_client/joints_cart_client/arm_ik_set_params" <remap from="/darwin/joints_cart_client/arm_ik_set_params"
to="/darwin/left_arm_kinematics/set_parameters"/> to="/darwin/left_arm_kinematics/set_parameters"/>
<remap from="/darwin/joints_cart_client/joints_cart_client/joint_states" <remap from="/darwin/joints_cart_client/joint_states"
to="/darwin/joint_states"/> to="/darwin/joint_states"/>
<param name="frame_id" value="/darwin/base_arm_l"/> <param name="frame_id" value="/darwin/base_arm_l"/>
<param name="x_pos" value="-0.0686496"/> <param name="x_pos" value="-0.0686496"/>
......
...@@ -17,19 +17,19 @@ ...@@ -17,19 +17,19 @@
type="qr_head_tracking" type="qr_head_tracking"
output="screen" output="screen"
ns="/darwin"> ns="/darwin">
<remap from="/darwin/qr_head_tracking/head_tracking_client/head_tracking_action" <remap from="/darwin/qr_head_tracking/head_tracking_action"
to="/darwin/robot/head_follow_target"/> to="/darwin/robot/head_follow_target"/>
<remap from="/darwin/qr_head_tracking/head_tracking_client/head_target" <remap from="/darwin/qr_head_tracking/head_target"
to="/darwin/robot/head_target"/> to="/darwin/robot/head_target"/>
<remap from="/darwin/qr_head_tracking/head_tracking_client/set_servo_modules" <remap from="/darwin/qr_head_tracking/set_servo_modules"
to="/darwin/robot/set_servo_modules"/> to="/darwin/robot/set_servo_modules"/>
<remap from="/darwin/qr_head_tracking/head_tracking_client/set_pan_pid" <remap from="/darwin/qr_head_tracking/set_pan_pid"
to="/darwin/robot/set_pan_pid"/> to="/darwin/robot/set_pan_pid"/>
<remap from="/darwin/qr_head_tracking/head_tracking_client/get_pan_pid" <remap from="/darwin/qr_head_tracking/get_pan_pid"
to="/darwin/robot/get_pan_pid"/> to="/darwin/robot/get_pan_pid"/>
<remap from="/darwin/qr_head_tracking/head_tracking_client/set_tilt_pid" <remap from="/darwin/qr_head_tracking/set_tilt_pid"
to="/darwin/robot/set_tilt_pid"/> to="/darwin/robot/set_tilt_pid"/>
<remap from="/darwin/qr_head_tracking/head_tracking_client/get_tilt_pid" <remap from="/darwin/qr_head_tracking/get_tilt_pid"
to="/darwin/robot/get_tilt_pid"/> to="/darwin/robot/get_tilt_pid"/>
<remap from="/darwin/qr_head_tracking/joint_states" <remap from="/darwin/qr_head_tracking/joint_states"
to="/darwin/joint_states"/> to="/darwin/joint_states"/>
......
...@@ -42,15 +42,15 @@ ...@@ -42,15 +42,15 @@
<param name="A_SHIFT" value="0.3"/> <param name="A_SHIFT" value="0.3"/>
<param name="Y_SPREAD" value="0.02"/> <param name="Y_SPREAD" value="0.02"/>
<param name="X_SHIFT_BODY" value="0.035"/> <param name="X_SHIFT_BODY" value="0.035"/>
<remap from="/darwin/stairs_client/stairs_client/climb_stairs" <remap from="/darwin/stairs_client/climb_stairs"
to="/darwin/robot/climb_stairs"/> to="/darwin/robot/climb_stairs"/>
<remap from="/darwin/stairs_client/stairs_client/set_stairs_params" <remap from="/darwin/stairs_client/set_stairs_params"
to="/darwin/robot/set_stairs_params"/> to="/darwin/robot/set_stairs_params"/>
<remap from="/darwin/stairs_client/stairs_client/get_stairs_params" <remap from="/darwin/stairs_client/get_stairs_params"
to="/darwin/robot/get_stairs_params"/> to="/darwin/robot/get_stairs_params"/>
<remap from="/darwin/stairs_client/stairs_client/set_servo_modules" <remap from="/darwin/stairs_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/> to="/darwin/robot/set_servo_modules"/>
<remap from="/darwin/stairs_client/stairs_client/fallen_state" <remap from="/darwin/stairs_client/fallen_state"
to="/darwin/robot/fallen_state"/> to="/darwin/robot/fallen_state"/>
</node> </node>
......
...@@ -29,17 +29,17 @@ ...@@ -29,17 +29,17 @@
<param name="FOOT_HEIGHT" value="0.04"/> <param name="FOOT_HEIGHT" value="0.04"/>
<param name="MAX_VEL" value="0.01"/> <param name="MAX_VEL" value="0.01"/>
<param name="MAX_ROT_VEL" value="0.01"/> <param name="MAX_ROT_VEL" value="0.01"/>
<remap from="/darwin/walk_client/walk_client/cmd_vel" <remap from="/darwin/walk_client/cmd_vel"
to="/darwin/robot/cmd_vel"/> to="/darwin/robot/cmd_vel"/>
<remap from="/darwin/walk_client/walk_client/set_walk_params" <remap from="/darwin/walk_client/set_walk_params"
to="/darwin/robot/set_walk_params"/> to="/darwin/robot/set_walk_params"/>
<remap from="/darwin/walk_client/walk_client/get_walk_params" <remap from="/darwin/walk_client/get_walk_params"
to="/darwin/robot/get_walk_params"/> to="/darwin/robot/get_walk_params"/>
<remap from="/darwin/walk_client/walk_client/set_servo_modules" <remap from="/darwin/walk_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/> to="/darwin/robot/set_servo_modules"/>
<remap from="/darwin/walk_client/walk_client/joint_states" <remap from="/darwin/walk_client/joint_states"
to="/darwin/joint_states"/> to="/darwin/joint_states"/>
<remap from="/darwin/walk_client/walk_client/fallen_state" <remap from="/darwin/walk_client/fallen_state"
to="/darwin/robot/fallen_state"/> to="/darwin/robot/fallen_state"/>
</node> </node>
......
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