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[pr2eus] change pr2 camera frame namespace from /openni to /kinect_head #153

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Jul 29, 2015
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12 changes: 6 additions & 6 deletions pr2eus/make-pr2-model-file.l
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
(defun make-pr2-model-file (&key (output-directory (ros::rospack-find "pr2eus")))
(let ((robot "pr2") s
fname_urdf fname_collada fname_yaml fname_lisp
valid-cameras camera-paths openni-frames)
valid-cameras camera-paths)
(unless (setq s (ros::get-param "/robot_description"))
(ros::ros-error "could not load model file from /robot_description~%")
(return-from make-pr2-model-file))
Expand Down Expand Up @@ -44,8 +44,8 @@
"l_forearm_cam"
"r_forearm_cam"
"prosilica"
"openni/rgb"
"openni/depth"
"kinect_head/rgb"
"kinect_head/depth"
))
(dolist (camera-path camera-paths)
(let* ((camera-info (format nil "~A/camera_info" camera-path))
Expand Down Expand Up @@ -84,10 +84,10 @@
(format f "(defmethod ~A-sensor-robot~%" robot)
(format f " (:init (&rest args)~%")
(format f " (send-super* :init args)~%")
;; pr2 specific openni frames
(format f " ;; openni frame definition, this data is taken from jsk_pr2_startup kinect_head_launch ~%")
;; pr2 specific kinect_head frames
(format f " ;; kinect_head frame definition, this data is taken from jsk_pr2_startup kinect_head_launch ~%")
(format f "#|~%")
(format f " get frame coordinates data from pr1012:/etc/ros/fuerte/urdf/robot.xml~%")
(format f " get frame coordinates data from pr1012:/etc/ros/distro/urdf/robot.xml~%")
(format f "|#~%")
(format f " ;; define cameras~%")
(dolist (valid-camera valid-cameras)
Expand Down
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