Merge lp:sr-ros-interface into lp:sr-ros-interface/release1.2

[Ugo]

New modular GUI
+ bug fixes

=== added file '.bzrignore'
--- .bzrignore	1970-01-01 00:00:00 +0000
+++ .bzrignore	2010-11-03 16:17:45 +0000
@@ -0,0 +1,96 @@
+shadow_robot/sr_hand/build
+shadow_robot/doc/doxygen/sr_hand
+shadow_robot/doc/doxygen/sr_hand.pdf
+shadow_robot/doc/rosdoc/*
+shadow_robot/sr_hand/msg_gen
+shadow_robot/sr_hand/bin
+shadow_robot/sr_hand/msg/lisp
+shadow_robot/sr_hand/src/sr_hand/msg
+shadow_robot/sr_hand/bin/*
+shadow_robot/sr_hand/bin/examples/*
+shadow_robot/cyberglove/build
+shadow_robot/cyberglove/srv_gen
+shadow_robot/cyberglove/bin/cyberglove
+shadow_robot/cyberglove/srv/lisp
+shadow_robot/sr_control_gui/bin
+shadow_robot/sr_control_gui/build
+shadow_robot/cyberglove/src/cyberglove
+shadow_robot/sr_control_gui/param/new_calibration.cal
+shadow_robot/sr_remappers/bin
+shadow_robot/sr_remappers_bk
+shadow_robot/sr_control_gui/param/new_calibration_2.cal
+shadow_robot/sr_remappers/build
+shadow_robot/threeD_mouse/bin
+shadow_robot/threeD_mouse/build
+shadow_robot/optical_acquisition/bin
+shadow_robot/optical_acquisition/build
+shadow_robot/optical_synchronizer/bin
+shadow_robot/optical_synchronizer/build
+<<<<<<< TREE
+shadow_robot/sr_remappers/bin/cyberglove_remapper
+=======
+shadow_robot/dataglove/dataglove_processing/.bzr
+shadow_robot/dataglove/dataglove_processing/bin
+shadow_robot/dataglove/dataglove_processing/buildshadow_robot/dataglove/dataglove_processing/srv_gen
+shadow_robot/dataglove/dataglove_processing/srv/lisp
+shadow_robot/dataglove/optical_acquisition/bin
+shadow_robot/dataglove/optical_acquisition/build
+shadow_robot/dataglove/optical_synchronizer/bin
+shadow_robot/dataglove/optical_synchronizer/build
+shadow_robot/dataglove/dataglove_processing/build
+shadow_robot/dataglove/dataglove_processing/srv_gen
+>>>>>>> MERGE-SOURCE
+shadow_robot/cyberglove/srv/java
+shadow_robot/cyberglove/srv/oct
+shadow_robot/sr_hand/msg/java
+shadow_robot/sr_hand/msg/oct
+shadow_robot/sr_hand/launch/test_cam.launch
+shadow_robot/sr_display/srv_gen
+shadow_robot/sr_display/bin/*
+shadow_robot/sr_display/build/*
+shadow_robot/sr_display/src/sr_display
+shadow_robot/sr_display/srv/lisp
+shadow_robot/sr_hand/.cproject
+shadow_robot/sr_hand/.project
+shadow_robot/sr_hand/cmake_install.cmake
+shadow_robot/sr_hand/src/euslisp
+shadow_robot/sr_hand/.pydevproject
+shadow_robot/cyberglove/src/euslisp
+shadow_robot/sr_control_gui/.cproject
+shadow_robot/sr_control_gui/.project
+shadow_robot/sr_control_gui/cmake_install.cmake
+shadow_robot/sr_control_gui/src/euslisp
+shadow_robot/sr_display/.cproject
+shadow_robot/sr_display/cmake_install.cmake
+
+shadow_robot/sr_display/src/euslisp
+
+shadow_robot/sr_display/srv/java
+
+shadow_robot/sr_display/srv/oct
+
+shadow_robot/sr_remappers/.cproject
+
+shadow_robot/sr_remappers/.project
+
+shadow_robot/sr_remappers/cmake_install.cmake
+
+shadow_robot/sr_remappers/src/euslisp
+
+shadow_robot/threeD_mouse/.cproject
+
+shadow_robot/threeD_mouse/.project
+
+shadow_robot/threeD_mouse/cmake_install.cmake
+
+shadow_robot/threeD_mouse/src/euslisp
+shadow_robot/sr_control_gui/.pydevproject
+shadow_robot/sr_control_gui/param/GloveToHandMappings.bk
+shadow_robot/sr_hand/.settings
+shadow_robot/sr_hand/python_lib/test.py
+shadow_robot/cyberglove/.pydevproject
+shadow_robot/sr_control_gui/src/sr_control_gui/images/glove_calibration/tmp
+shadow_robot/sr_control_gui/images/glove_calibration/tmp
+shadow_robot/sr_convenient_dependencies/bin
+shadow_robot/sr_convenient_dependencies/build
+shadow_robot/sr_convenient_dependencies/src

=== added directory 'shadow_robot'
=== renamed directory 'shadow_robot' => 'shadow_robot.moved'
=== added file 'shadow_robot/README.txt'
--- shadow_robot/README.txt	1970-01-01 00:00:00 +0000
+++ shadow_robot/README.txt	2010-11-03 16:17:45 +0000
@@ -0,0 +1,17 @@
+
+First of all, don't forget to edit your ROS_PACKAGE_PATH variable. To do this,
+edit your ~/.bashrc and AFTER the source /path/to/ros/setup.sh add: 
+
+export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/path/to/shadow_robot
+
+where /path/to/shadow_robot is the complete path to the shadow_robot directory you 
+got from the bazaar repository.
+
+To start using this ROS interface, the best way to go is to generate the doc:
+
+$ cd doc
+$ ./generate_doc.sh
+
+Then fire up your favourite browser and open the generated rosdoc/index.html.
+You can start by reading the sr_hand documentation.
+

=== added directory 'shadow_robot/cyberglove'
=== added file 'shadow_robot/cyberglove/.cproject'
--- shadow_robot/cyberglove/.cproject	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/.cproject	2010-11-03 16:17:45 +0000
@@ -0,0 +1,575 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?fileVersion 4.0.0?>
+
+<cproject>
+	<storageModule moduleId="org.eclipse.cdt.core.settings">
+		<cconfiguration id="org.eclipse.cdt.core.default.config.1">
+			<storageModule buildSystemId="org.eclipse.cdt.core.defaultConfigDataProvider" id="org.eclipse.cdt.core.default.config.1" moduleId="org.eclipse.cdt.core.settings" name="Configuration">
+				<externalSettings/>
+				<extensions>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.GNU_ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+				</extensions>
+			</storageModule>
+			<storageModule moduleId="org.eclipse.cdt.core.language.mapping">
+				<project-mappings/>
+			</storageModule>
+			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
+			<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets">
+				<buildTargets>
+					<target name=": ROSBUILD_genmanifest_eus" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>ROSBUILD_genmanifest_eus</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": ROSBUILD_genmsg_cpp" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>ROSBUILD_genmsg_cpp</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": ROSBUILD_genmsg_eus" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>ROSBUILD_genmsg_eus</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": ROSBUILD_genmsg_java" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>ROSBUILD_genmsg_java</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": ROSBUILD_genmsg_lisp" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>ROSBUILD_genmsg_lisp</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": ROSBUILD_genmsg_oct" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>ROSBUILD_genmsg_oct</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": ROSBUILD_gensrv_cpp" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>ROSBUILD_gensrv_cpp</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": ROSBUILD_gensrv_eus" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>ROSBUILD_gensrv_eus</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": ROSBUILD_gensrv_java" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>ROSBUILD_gensrv_java</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": ROSBUILD_gensrv_lisp" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>ROSBUILD_gensrv_lisp</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": ROSBUILD_gensrv_oct" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>ROSBUILD_gensrv_oct</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": ROSBUILD_gensrv_py" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>ROSBUILD_gensrv_py</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": clean-test-results" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>clean-test-results</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name="[exe] cyberglove" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>cyberglove</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name="[exe] cyberglove/fast" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>cyberglove/fast</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": rebuild_cache" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>rebuild_cache</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": rosbuild_precompile" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>rosbuild_precompile</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": rosbuild_premsgsrvgen" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>rosbuild_premsgsrvgen</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": rospack_genmsg" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>rospack_genmsg</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": rospack_genmsg_libexe" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>rospack_genmsg_libexe</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": rospack_gensrv" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>rospack_gensrv</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": rospack_gensrv_all" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>rospack_gensrv_all</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": test" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>test</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": test-future" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>test-future</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": test-results" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>test-results</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": test-results-run" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>test-results-run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name="[exe] test/test_calibration" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>test/test_calibration</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name="[exe] test/test_calibration/fast" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>test/test_calibration/fast</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": test_test_calibration_result" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>test_test_calibration_result</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": test_test_test_calibration" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>test_test_test_calibration</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": tests" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>tests</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": all" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>all</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name=": clean" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>clean</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name="[obj] src/cyberglove_node.o" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>src/cyberglove_node.o</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name="[pre] src/cyberglove_node.i" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>src/cyberglove_node.i</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name="[to asm] src/cyberglove_node.s" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>src/cyberglove_node.s</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name="[obj] src/cyberglove_publisher.o" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>src/cyberglove_publisher.o</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name="[pre] src/cyberglove_publisher.i" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>src/cyberglove_publisher.i</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name="[to asm] src/cyberglove_publisher.s" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>src/cyberglove_publisher.s</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name="[obj] src/cyberglove_service.o" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>src/cyberglove_service.o</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name="[pre] src/cyberglove_service.i" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>src/cyberglove_service.i</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name="[to asm] src/cyberglove_service.s" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>src/cyberglove_service.s</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name="[obj] src/serial_glove.o" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>src/serial_glove.o</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name="[pre] src/serial_glove.i" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>src/serial_glove.i</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name="[to asm] src/serial_glove.s" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>src/serial_glove.s</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name="[obj] src/xml_calibration_parser.o" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>src/xml_calibration_parser.o</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name="[pre] src/xml_calibration_parser.i" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>src/xml_calibration_parser.i</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name="[to asm] src/xml_calibration_parser.s" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>src/xml_calibration_parser.s</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name="[obj] test/test_calibration.o" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>test/test_calibration.o</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name="[pre] test/test_calibration.i" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>test/test_calibration.i</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+					<target name="[to asm] test/test_calibration.s" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+						<buildCommand>/usr/bin/make</buildCommand>
+						<buildArguments/>
+						<buildTarget>test/test_calibration.s</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>false</useDefaultCommand>
+					</target>
+				</buildTargets>
+			</storageModule>
+			<storageModule moduleId="scannerConfiguration">
+				<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile"/>
+				<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
+					<buildOutputProvider>
+						<openAction enabled="true" filePath=""/>
+						<parser enabled="true"/>
+					</buildOutputProvider>
+					<scannerInfoProvider id="specsFile">
+						<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="/usr/bin/gcc" useDefault="true"/>
+						<parser enabled="true"/>
+					</scannerInfoProvider>
+				</profile>
+				<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
+					<buildOutputProvider>
+						<openAction enabled="true" filePath=""/>
+						<parser enabled="true"/>
+					</buildOutputProvider>
+					<scannerInfoProvider id="makefileGenerator">
+						<runAction arguments="-f ${project_name}_scd.mk" command="/usr/bin/make" useDefault="true"/>
+						<parser enabled="true"/>
+					</scannerInfoProvider>
+				</profile>
+			</storageModule>
+			<storageModule moduleId="org.eclipse.cdt.core.pathentry">
+				<pathentry kind="mac" name="__STDC__" path="" value="1"/>
+				<pathentry kind="mac" name="__STDC_HOSTED__" path="" value="1"/>
+				<pathentry kind="mac" name="__GNUC__" path="" value="4"/>
+				<pathentry kind="mac" name="__GNUC_MINOR__" path="" value="4"/>
+				<pathentry kind="mac" name="__GNUC_PATCHLEVEL__" path="" value="3"/>
+				<pathentry kind="mac" name="__SIZE_TYPE__" path="" value="unsigned"/>
+				<pathentry kind="mac" name="int" path="" value="__PTRDIFF_TYPE__"/>
+				<pathentry kind="mac" name="unsigned" path="" value="int"/>
+				<pathentry kind="mac" name="__INTMAX_TYPE__" path="" value="long"/>
+				<pathentry kind="mac" name="long" path="" value="int"/>
+				<pathentry kind="mac" name="__UINTMAX_TYPE__" path="" value="long"/>
+				<pathentry kind="mac" name="short" path="" value="unsigned"/>
+				<pathentry kind="mac" name="__GXX_ABI_VERSION" path="" value="1002"/>
+				<pathentry kind="mac" name="__SCHAR_MAX__" path="" value="127"/>
+				<pathentry kind="mac" name="__SHRT_MAX__" path="" value="32767"/>
+				<pathentry kind="mac" name="__INT_MAX__" path="" value="2147483647"/>
+				<pathentry kind="mac" name="__LONG_MAX__" path="" value="2147483647L"/>
+				<pathentry kind="mac" name="__LONG_LONG_MAX__" path="" value="9223372036854775807LL"/>
+				<pathentry kind="mac" name="__WCHAR_MAX__" path="" value="2147483647"/>
+				<pathentry kind="mac" name="__CHAR_BIT__" path="" value="8"/>
+				<pathentry kind="mac" name="__INTMAX_MAX__" path="" value="9223372036854775807LL"/>
+				<pathentry kind="mac" name="__FLT_EVAL_METHOD__" path="" value="2"/>
+				<pathentry kind="mac" name="__DEC_EVAL_METHOD__" path="" value="2"/>
+				<pathentry kind="mac" name="__FLT_RADIX__" path="" value="2"/>
+				<pathentry kind="mac" name="__FLT_MANT_DIG__" path="" value="24"/>
+				<pathentry kind="mac" name="__FLT_DIG__" path="" value="6"/>
+				<pathentry kind="mac" name="__FLT_MIN_EXP__" path="" value="(-125)"/>
+				<pathentry kind="mac" name="__FLT_MIN_10_EXP__" path="" value="(-37)"/>
+				<pathentry kind="mac" name="__FLT_MAX_EXP__" path="" value="128"/>
+				<pathentry kind="mac" name="__FLT_MAX_10_EXP__" path="" value="38"/>
+				<pathentry kind="mac" name="__FLT_MAX__" path="" value="3.40282347e+38F"/>
+				<pathentry kind="mac" name="__FLT_MIN__" path="" value="1.17549435e-38F"/>
+				<pathentry kind="mac" name="__FLT_EPSILON__" path="" value="1.19209290e-7F"/>
+				<pathentry kind="mac" name="__FLT_DENORM_MIN__" path="" value="1.40129846e-45F"/>
+				<pathentry kind="mac" name="__FLT_HAS_DENORM__" path="" value="1"/>
+				<pathentry kind="mac" name="__FLT_HAS_INFINITY__" path="" value="1"/>
+				<pathentry kind="mac" name="__FLT_HAS_QUIET_NAN__" path="" value="1"/>
+				<pathentry kind="mac" name="__DBL_MANT_DIG__" path="" value="53"/>
+				<pathentry kind="mac" name="__DBL_DIG__" path="" value="15"/>
+				<pathentry kind="mac" name="__DBL_MIN_EXP__" path="" value="(-1021)"/>
+				<pathentry kind="mac" name="__DBL_MIN_10_EXP__" path="" value="(-307)"/>
+				<pathentry kind="mac" name="__DBL_MAX_EXP__" path="" value="1024"/>
+				<pathentry kind="mac" name="__DBL_MAX_10_EXP__" path="" value="308"/>
+				<pathentry kind="mac" name="__DBL_MAX__" path="" value="1.7976931348623157e+308"/>
+				<pathentry kind="mac" name="__DBL_MIN__" path="" value="2.2250738585072014e-308"/>
+				<pathentry kind="mac" name="__DBL_EPSILON__" path="" value="2.2204460492503131e-16"/>
+				<pathentry kind="mac" name="__DBL_DENORM_MIN__" path="" value="4.9406564584124654e-324"/>
+				<pathentry kind="mac" name="__DBL_HAS_DENORM__" path="" value="1"/>
+				<pathentry kind="mac" name="__DBL_HAS_INFINITY__" path="" value="1"/>
+				<pathentry kind="mac" name="__DBL_HAS_QUIET_NAN__" path="" value="1"/>
+				<pathentry kind="mac" name="__LDBL_MANT_DIG__" path="" value="64"/>
+				<pathentry kind="mac" name="__LDBL_DIG__" path="" value="18"/>
+				<pathentry kind="mac" name="__LDBL_MIN_EXP__" path="" value="(-16381)"/>
+				<pathentry kind="mac" name="__LDBL_MIN_10_EXP__" path="" value="(-4931)"/>
+				<pathentry kind="mac" name="__LDBL_MAX_EXP__" path="" value="16384"/>
+				<pathentry kind="mac" name="__LDBL_MAX_10_EXP__" path="" value="4932"/>
+				<pathentry kind="mac" name="__DECIMAL_DIG__" path="" value="21"/>
+				<pathentry kind="mac" name="__LDBL_MAX__" path="" value="1.18973149535723176502e+4932L"/>
+				<pathentry kind="mac" name="__LDBL_MIN__" path="" value="3.36210314311209350626e-4932L"/>
+				<pathentry kind="mac" name="__LDBL_EPSILON__" path="" value="1.08420217248550443401e-19L"/>
+				<pathentry kind="mac" name="__LDBL_DENORM_MIN__" path="" value="3.64519953188247460253e-4951L"/>
+				<pathentry kind="mac" name="__LDBL_HAS_DENORM__" path="" value="1"/>
+				<pathentry kind="mac" name="__LDBL_HAS_INFINITY__" path="" value="1"/>
+				<pathentry kind="mac" name="__LDBL_HAS_QUIET_NAN__" path="" value="1"/>
+				<pathentry kind="mac" name="__DEC32_MANT_DIG__" path="" value="7"/>
+				<pathentry kind="mac" name="__DEC32_MIN_EXP__" path="" value="(-94)"/>
+				<pathentry kind="mac" name="__DEC32_MAX_EXP__" path="" value="97"/>
+				<pathentry kind="mac" name="__DEC32_MIN__" path="" value="1E-95DF"/>
+				<pathentry kind="mac" name="__DEC32_MAX__" path="" value="9.999999E96DF"/>
+				<pathentry kind="mac" name="__DEC32_EPSILON__" path="" value="1E-6DF"/>
+				<pathentry kind="mac" name="__DEC32_SUBNORMAL_MIN__" path="" value="0.000001E-95DF"/>
+				<pathentry kind="mac" name="__DEC64_MANT_DIG__" path="" value="16"/>
+				<pathentry kind="mac" name="__DEC64_MIN_EXP__" path="" value="(-382)"/>
+				<pathentry kind="mac" name="__DEC64_MAX_EXP__" path="" value="385"/>
+				<pathentry kind="mac" name="__DEC64_MIN__" path="" value="1E-383DD"/>
+				<pathentry kind="mac" name="__DEC64_MAX__" path="" value="9.999999999999999E384DD"/>
+				<pathentry kind="mac" name="__DEC64_EPSILON__" path="" value="1E-15DD"/>
+				<pathentry kind="mac" name="__DEC64_SUBNORMAL_MIN__" path="" value="0.000000000000001E-383DD"/>
+				<pathentry kind="mac" name="__DEC128_MANT_DIG__" path="" value="34"/>
+				<pathentry kind="mac" name="__DEC128_MIN_EXP__" path="" value="(-6142)"/>
+				<pathentry kind="mac" name="__DEC128_MAX_EXP__" path="" value="6145"/>
+				<pathentry kind="mac" name="__DEC128_MIN__" path="" value="1E-6143DL"/>
+				<pathentry kind="mac" name="__DEC128_MAX__" path="" value="9.999999999999999999999999999999999E6144DL"/>
+				<pathentry kind="mac" name="__DEC128_EPSILON__" path="" value="1E-33DL"/>
+				<pathentry kind="mac" name="__DEC128_SUBNORMAL_MIN__" path="" value="0.000000000000000000000000000000001E-6143DL"/>
+				<pathentry kind="mac" name="__REGISTER_PREFIX__" path="" value=""/>
+				<pathentry kind="mac" name="__USER_LABEL_PREFIX__" path="" value=""/>
+				<pathentry kind="mac" name="__VERSION__" path="" value="&quot;4.4.3&quot;"/>
+				<pathentry kind="mac" name="__GNUC_GNU_INLINE__" path="" value="1"/>
+				<pathentry kind="mac" name="__NO_INLINE__" path="" value="1"/>
+				<pathentry kind="mac" name="__FINITE_MATH_ONLY__" path="" value="0"/>
+				<pathentry kind="mac" name="__GCC_HAVE_SYNC_COMPARE_AND_SWAP_1" path="" value="1"/>
+				<pathentry kind="mac" name="__GCC_HAVE_SYNC_COMPARE_AND_SWAP_2" path="" value="1"/>
+				<pathentry kind="mac" name="__GCC_HAVE_SYNC_COMPARE_AND_SWAP_4" path="" value="1"/>
+				<pathentry kind="mac" name="__SSP__" path="" value="1"/>
+				<pathentry kind="mac" name="__SIZEOF_INT__" path="" value="4"/>
+				<pathentry kind="mac" name="__SIZEOF_LONG__" path="" value="4"/>
+				<pathentry kind="mac" name="__SIZEOF_LONG_LONG__" path="" value="8"/>
+				<pathentry kind="mac" name="__SIZEOF_SHORT__" path="" value="2"/>
+				<pathentry kind="mac" name="__SIZEOF_FLOAT__" path="" value="4"/>
+				<pathentry kind="mac" name="__SIZEOF_DOUBLE__" path="" value="8"/>
+				<pathentry kind="mac" name="__SIZEOF_LONG_DOUBLE__" path="" value="12"/>
+				<pathentry kind="mac" name="__SIZEOF_SIZE_T__" path="" value="4"/>
+				<pathentry kind="mac" name="__SIZEOF_WCHAR_T__" path="" value="4"/>
+				<pathentry kind="mac" name="__SIZEOF_WINT_T__" path="" value="4"/>
+				<pathentry kind="mac" name="__SIZEOF_PTRDIFF_T__" path="" value="4"/>
+				<pathentry kind="mac" name="__SIZEOF_POINTER__" path="" value="4"/>
+				<pathentry kind="mac" name="__i386" path="" value="1"/>
+				<pathentry kind="mac" name="__i386__" path="" value="1"/>
+				<pathentry kind="mac" name="i386" path="" value="1"/>
+				<pathentry kind="mac" name="__i486" path="" value="1"/>
+				<pathentry kind="mac" name="__i486__" path="" value="1"/>
+				<pathentry kind="mac" name="__gnu_linux__" path="" value="1"/>
+				<pathentry kind="mac" name="__linux" path="" value="1"/>
+				<pathentry kind="mac" name="__linux__" path="" value="1"/>
+				<pathentry kind="mac" name="linux" path="" value="1"/>
+				<pathentry kind="mac" name="__unix" path="" value="1"/>
+				<pathentry kind="mac" name="__unix__" path="" value="1"/>
+				<pathentry kind="mac" name="unix" path="" value="1"/>
+				<pathentry kind="mac" name="__ELF__" path="" value="1"/>
+				<pathentry kind="mac" name="__DECIMAL_BID_FORMAT__" path="" value="1"/>
+				<pathentry kind="mac" name="__BIGGEST_ALIGNMENT__" path="" value="16"/>
+				<pathentry kind="mac" name="_FORTIFY_SOURCE" path="" value="2"/>
+				<pathentry kind="mac" name="__cplusplus" path="" value="1"/>
+				<pathentry kind="mac" name="__GNUG__" path="" value="4"/>
+				<pathentry kind="mac" name="__GXX_WEAK__" path="" value="1"/>
+				<pathentry kind="mac" name="__DEPRECATED" path="" value="1"/>
+				<pathentry kind="mac" name="__GXX_RTTI" path="" value="1"/>
+				<pathentry kind="mac" name="__EXCEPTIONS" path="" value="1"/>
+				<pathentry kind="mac" name="__GCC_HAVE_DWARF2_CFI_ASM" path="" value="1"/>
+				<pathentry kind="mac" name="_GNU_SOURCE" path="" value="1"/>
+				<pathentry include="/home/ugo/Projects/ROS_interfaces/sr-ros-interface/trunk/shadow_robot/cyberglove/include" kind="inc" path="" system="true"/>
+				<pathentry include="/opt/ros/cturtle/stacks/common_msgs/sensor_msgs/include" kind="inc" path="" system="true"/>
+				<pathentry include="/opt/ros/cturtle/stacks/common_msgs/sensor_msgs/msg_gen/cpp/include" kind="inc" path="" system="true"/>
+				<pathentry include="/opt/ros/cturtle/stacks/common_msgs/sensor_msgs/srv_gen/cpp/include" kind="inc" path="" system="true"/>
+				<pathentry include="/opt/ros/cturtle/stacks/common_msgs/geometry_msgs/msg_gen/cpp/include" kind="inc" path="" system="true"/>
+				<pathentry include="/opt/ros/cturtle/stacks/common_msgs/diagnostic_msgs/msg_gen/cpp/include" kind="inc" path="" system="true"/>
+				<pathentry include="/opt/ros/cturtle/stacks/common_msgs/diagnostic_msgs/srv_gen/cpp/include" kind="inc" path="" system="true"/>
+				<pathentry include="/opt/ros/cturtle/ros/tools/rosrecord/include" kind="inc" path="" system="true"/>
+				<pathentry include="/opt/ros/cturtle/ros/tools/rosbag/include" kind="inc" path="" system="true"/>
+				<pathentry include="/opt/ros/cturtle/ros/tools/topic_tools/include" kind="inc" path="" system="true"/>
+				<pathentry include="/opt/ros/cturtle/ros/tools/topic_tools/srv_gen/cpp/include" kind="inc" path="" system="true"/>
+				<pathentry include="/opt/ros/cturtle/ros/std_msgs/include" kind="inc" path="" system="true"/>
+				<pathentry include="/opt/ros/cturtle/ros/std_msgs/msg_gen/cpp/include" kind="inc" path="" system="true"/>
+				<pathentry include="/opt/ros/cturtle/ros/test/rostest/include" kind="inc" path="" system="true"/>
+				<pathentry include="/opt/ros/cturtle/ros/core/roscpp/include" kind="inc" path="" system="true"/>
+				<pathentry include="/opt/ros/cturtle/ros/core/roscpp/msg_gen/cpp/include" kind="inc" path="" system="true"/>
+				<pathentry include="/opt/ros/cturtle/ros/core/roscpp/srv_gen/cpp/include" kind="inc" path="" system="true"/>
+				<pathentry include="/opt/ros/cturtle/ros/3rdparty/xmlrpcpp/src" kind="inc" path="" system="true"/>
+				<pathentry include="/opt/ros/cturtle/ros/core/rosconsole/include" kind="inc" path="" system="true"/>
+				<pathentry include="/opt/ros/cturtle/ros/core/roslib/include" kind="inc" path="" system="true"/>
+				<pathentry include="/opt/ros/cturtle/ros/core/roslib/msg_gen/cpp/include" kind="inc" path="" system="true"/>
+				<pathentry include="/opt/ros/cturtle/ros/tools/rospack" kind="inc" path="" system="true"/>
+				<pathentry include="/opt/ros/cturtle/ros/tools/rospack/include" kind="inc" path="" system="true"/>
+				<pathentry include="/opt/ros/cturtle/stacks/common/tinyxml/include" kind="inc" path="" system="true"/>
+				<pathentry include="/opt/ros/cturtle/ros/3rdparty/gtest/gtest/include" kind="inc" path="" system="true"/>
+				<pathentry include="/home/ugo/Projects/ROS_interfaces/sr-ros-interface/trunk/shadow_robot/cyberglove/srv_gen/cpp/include" kind="inc" path="" system="true"/>
+				<pathentry include="/usr/local/include" kind="inc" path="" system="true"/>
+				<pathentry include="/usr/lib/gcc/i486-linux-gnu/4.4/include" kind="inc" path="" system="true"/>
+				<pathentry include="/usr/lib/gcc/i486-linux-gnu/4.4/include-fixed" kind="inc" path="" system="true"/>
+				<pathentry include="/usr/include" kind="inc" path="" system="true"/>
+				<pathentry include="/usr/include/c++/4.4" kind="inc" path="" system="true"/>
+				<pathentry include="/usr/include/c++/4.4/i486-linux-gnu" kind="inc" path="" system="true"/>
+				<pathentry include="/usr/include/c++/4.4/backward" kind="inc" path="" system="true"/>
+				<pathentry excluding="**/CMakeFiles/" kind="out" path=""/>
+				<pathentry kind="src" path=""/>
+			</storageModule>
+		</cconfiguration>
+	</storageModule>
+	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+		<project id="cyberglove.null.1" name="cyberglove"/>
+	</storageModule>
+</cproject>

=== added file 'shadow_robot/cyberglove/.project'
--- shadow_robot/cyberglove/.project	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/.project	2010-11-03 16:17:45 +0000
@@ -0,0 +1,116 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>[TRUNK] cyberglove</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.python.pydev.PyDevBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.cdt.make.core.makeBuilder</name>
+			<triggers>clean,full,incremental,</triggers>
+			<arguments>
+				<dictionary>
+					<key>org.eclipse.cdt.core.errorOutputParser</key>
+					<value>org.eclipse.cdt.core.MakeErrorParser;org.eclipse.cdt.core.GCCErrorParser;org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GLDErrorParser;</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.append_environment</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.autoBuildTarget</key>
+					<value>all</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.build.arguments</key>
+					<value></value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.build.command</key>
+					<value>/usr/bin/make</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.build.location</key>
+					<value>/home/ugo/Projects/ROS_interfaces/sr-ros-interface/trunk/shadow_robot/cyberglove</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.build.target.auto</key>
+					<value>all</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.build.target.clean</key>
+					<value>clean</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.build.target.inc</key>
+					<value>all</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.buildArguments</key>
+					<value></value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.buildLocation</key>
+					<value>/home/ugo/Projects/ROS_interfaces/sr-ros-interface/trunk/shadow_robot/cyberglove</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.cleanBuildTarget</key>
+					<value>clean</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.contents</key>
+					<value>org.eclipse.cdt.make.core.activeConfigSettings</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.enableAutoBuild</key>
+					<value>false</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.enableCleanBuild</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.enableFullBuild</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.enabledIncrementalBuild</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.environment</key>
+					<value>VERBOSE=1|ROS_ROOT=/opt/ros/cturtle/ros|ROS_PACKAGE_PATH=/opt/ros/cturtle/stacks:/home/ugo/ros_stacks_external:/home/ugo/Projects/3_FT_DSTL/Software/ros:/home/ugo/Projects/ROS_interfaces/sr-ros-interface/trunk/shadow_robot|PYTHONPATH=/opt/ros/cturtle/ros/core/roslib/src:/opt/ros/cturtle/ros/core/roslib/src::/home/ugo/ros_stacks_external/jsk-ros-pkg/openrave_planning/openrave/share/openrave:/home/ugo/ros_stacks_external/jsk-ros-pkg/openrave_planning/openrave/share/openrave|PATH=/opt/ros/cturtle/ros/bin:/opt/ros/cturtle/ros/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/home/ugo/ros_stacks_external/jsk-ros-pkg/openrave_planning/openrave/bin:/home/ugo/ros_stacks_external/jsk-ros-pkg/openrave_planning/openrave/bin|</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.fullBuildTarget</key>
+					<value>all</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.stopOnError</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
+					<value>false</value>
+				</dictionary>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.cdt.make.core.ScannerConfigBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.cdt.core.ccnature</nature>
+		<nature>org.eclipse.cdt.make.core.makeNature</nature>
+		<nature>org.eclipse.cdt.make.core.ScannerConfigNature</nature>
+		<nature>org.eclipse.cdt.core.cnature</nature>
+		<nature>org.python.pydev.pythonNature</nature>
+	</natures>
+</projectDescription>

=== added file 'shadow_robot/cyberglove/CMakeLists.txt'
--- shadow_robot/cyberglove/CMakeLists.txt	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/CMakeLists.txt	2010-11-03 16:17:45 +0000
@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+rosbuild_gensrv()
+
+rosbuild_add_executable(cyberglove src/cyberglove_publisher.cpp src/cyberglove_node.cpp src/serial_glove.c src/xml_calibration_parser.cpp src/cyberglove_service.cpp)
+
+rosbuild_add_gtest(test/test_calibration test/test_calibration.cpp src/xml_calibration_parser.cpp )
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})

=== added file 'shadow_robot/cyberglove/Makefile'
--- shadow_robot/cyberglove/Makefile	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/Makefile	2010-11-03 16:17:45 +0000
@@ -0,0 +1,1 @@
+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file

=== added file 'shadow_robot/cyberglove/Ogre.log'
--- shadow_robot/cyberglove/Ogre.log	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/Ogre.log	2010-11-03 16:17:45 +0000
@@ -0,0 +1,419 @@
+17:43:00: Creating resource group General
+17:43:00: Creating resource group Internal
+17:43:00: Creating resource group Autodetect
+17:43:00: SceneManagerFactory for type 'DefaultSceneManager' registered.
+17:43:00: Registering ResourceManager for type Material
+17:43:00: Registering ResourceManager for type Mesh
+17:43:00: Registering ResourceManager for type Skeleton
+17:43:00: MovableObjectFactory for type 'ParticleSystem' registered.
+17:43:00: OverlayElementFactory for type Panel registered.
+17:43:00: OverlayElementFactory for type BorderPanel registered.
+17:43:00: OverlayElementFactory for type TextArea registered.
+17:43:00: Registering ResourceManager for type Font
+17:43:00: ArchiveFactory for archive type FileSystem registered.
+17:43:00: ArchiveFactory for archive type Zip registered.
+17:43:00: DDS codec registering
+17:43:00: FreeImage version: 3.13.0
+17:43:00: This program uses FreeImage, a free, open source image library supporting all common bitmap formats. See http://freeimage.sourceforge.net for details
+17:43:00: Supported formats: bmp,ico,jpg,jif,jpeg,jpe,jng,koa,iff,lbm,mng,pbm,pbm,pcd,pcx,pgm,pgm,png,ppm,ppm,ras,tga,targa,tif,tiff,wap,wbmp,wbm,psd,cut,xbm,xpm,gif,hdr,g3,sgi,exr,j2k,j2c,jp2,pfm,pct,pict,pic,bay,bmq,cr2,crw,cs1,dc2,dcr,dng,erf,fff,hdr,k25,kdc,mdc,mos,mrw,nef,orf,pef,pxn,raf,raw,rdc,sr2,srf,arw,3fr,cine,ia,kc2,mef,nrw,qtk,rw2,sti,drf,dsc,ptx,cap,iiq,rwz
+17:43:00: Registering ResourceManager for type HighLevelGpuProgram
+17:43:00: Registering ResourceManager for type Compositor
+17:43:00: MovableObjectFactory for type 'Entity' registered.
+17:43:00: MovableObjectFactory for type 'Light' registered.
+17:43:00: MovableObjectFactory for type 'BillboardSet' registered.
+17:43:00: MovableObjectFactory for type 'ManualObject' registered.
+17:43:00: MovableObjectFactory for type 'BillboardChain' registered.
+17:43:00: MovableObjectFactory for type 'RibbonTrail' registered.
+17:43:00: OGRE EXCEPTION(6:FileNotFoundException): 'plugins.cfg' file not found! in ConfigFile::load at /home/ugo/ros_latest/stacks/visualization_common/ogre/build/ogre_src_v1-7-1/OgreMain/src/OgreConfigFile.cpp (line 83)
+17:43:00: plugins.cfg not found, automatic plugin loading disabled.
+17:43:00: *-*-* OGRE Initialising
+17:43:00: *-*-* Version 1.7.1 (Cthugha)
+17:43:00: Loading library RenderSystem_GL
+17:43:00: Installing plugin: GL RenderSystem
+17:43:00: OpenGL Rendering Subsystem created.
+17:43:00: Plugin successfully installed
+17:43:00: Loading library Plugin_OctreeSceneManager
+17:43:00: Installing plugin: Octree & Terrain Scene Manager
+17:43:00: Plugin successfully installed
+17:43:00: Loading library Plugin_ParticleFX
+17:43:00: Installing plugin: ParticleFX
+17:43:00: Particle Emitter Type 'Point' registered
+17:43:00: Particle Emitter Type 'Box' registered
+17:43:00: Particle Emitter Type 'Ellipsoid' registered
+17:43:00: Particle Emitter Type 'Cylinder' registered
+17:43:00: Particle Emitter Type 'Ring' registered
+17:43:00: Particle Emitter Type 'HollowEllipsoid' registered
+17:43:00: Particle Affector Type 'LinearForce' registered
+17:43:00: Particle Affector Type 'ColourFader' registered
+17:43:00: Particle Affector Type 'ColourFader2' registered
+17:43:00: Particle Affector Type 'ColourImage' registered
+17:43:00: Particle Affector Type 'ColourInterpolator' registered
+17:43:00: Particle Affector Type 'Scaler' registered
+17:43:00: Particle Affector Type 'Rotator' registered
+17:43:00: Particle Affector Type 'DirectionRandomiser' registered
+17:43:00: Particle Affector Type 'DeflectorPlane' registered
+17:43:00: Plugin successfully installed
+17:43:00: Loading library Plugin_CgProgramManager
+17:43:00: Installing plugin: Cg Program Manager
+17:43:00: Plugin successfully installed
+17:43:00: CPU Identifier & Features
+17:43:00: -------------------------
+17:43:00:  *   CPU ID: AuthenticAMD: AMD Athlon(tm) Processor LE-1640
+17:43:00:  *      SSE: yes
+17:43:00:  *     SSE2: yes
+17:43:00:  *     SSE3: yes
+17:43:00:  *      MMX: yes
+17:43:00:  *   MMXEXT: yes
+17:43:00:  *    3DNOW: yes
+17:43:00:  * 3DNOWEXT: yes
+17:43:00:  *     CMOV: yes
+17:43:00:  *      TSC: yes
+17:43:00:  *      FPU: yes
+17:43:00:  *      PRO: yes
+17:43:00:  *       HT: no
+17:43:00: -------------------------
+17:43:00: ******************************
+*** Starting GLX Subsystem ***
+******************************
+17:43:00: Creating resource group ogre_tools
+17:43:00: Added resource location '/home/ugo/ros_latest/stacks/visualization_common/ogre_tools/media' of type 'FileSystem' to resource group 'ogre_tools'
+17:43:00: Added resource location '/home/ugo/ros_latest/stacks/visualization_common/ogre_tools/media/fonts' of type 'FileSystem' to resource group 'ogre_tools'
+17:43:00: Added resource location '/home/ugo/ros_latest/stacks/visualization_common/ogre_tools/media/models' of type 'FileSystem' to resource group 'ogre_tools'
+17:43:00: Added resource location '/home/ugo/ros_latest/stacks/visualization_common/ogre_tools/media/materials' of type 'FileSystem' to resource group 'ogre_tools'
+17:43:00: Added resource location '/home/ugo/ros_latest/stacks/visualization_common/ogre_tools/media/materials/scripts' of type 'FileSystem' to resource group 'ogre_tools'
+17:43:00: Added resource location '/home/ugo/ros_latest/stacks/visualization_common/ogre_tools/media/materials/programs' of type 'FileSystem' to resource group 'ogre_tools'
+17:43:00: GLRenderSystem::_createRenderWindow "OgreRenderWindow1", 1517x1000 windowed  miscParams: parentWindowHandle=71303241 
+17:43:00: GLXWindow::create used FBConfigID = 117
+17:43:00: GL_VERSION = 3.0.0 NVIDIA 185.18.36
+17:43:00: GL_VENDOR = NVIDIA Corporation
+17:43:00: GL_RENDERER = GeForce 9500 GT/PCI/SSE2/3DNOW!
+17:43:00: GL_EXTENSIONS = GL_ARB_color_buffer_float GL_ARB_depth_buffer_float GL_ARB_depth_texture GL_ARB_draw_buffers GL_ARB_draw_instanced GL_ARB_fragment_program GL_ARB_fragment_program_shadow GL_ARB_fragment_shader GL_ARB_half_float_pixel GL_ARB_half_float_vertex GL_ARB_framebuffer_object GL_ARB_geometry_shader4 GL_ARB_imaging GL_ARB_map_buffer_range GL_ARB_multisample GL_ARB_multitexture GL_ARB_occlusion_query GL_ARB_pixel_buffer_object GL_ARB_point_parameters GL_ARB_point_sprite GL_ARB_shadow GL_ARB_shader_objects GL_ARB_shading_language_100 GL_ARB_texture_border_clamp GL_ARB_texture_buffer_object GL_ARB_texture_compression GL_ARB_texture_cube_map GL_ARB_texture_env_add GL_ARB_texture_env_combine GL_ARB_texture_env_dot3 GL_ARB_texture_float GL_ARB_texture_mirrored_repeat GL_ARB_texture_non_power_of_two GL_ARB_texture_rectangle GL_ARB_texture_rg GL_ARB_transpose_matrix GL_ARB_vertex_array_object GL_ARB_vertex_buffer_object GL_ARB_vertex_program GL_ARB_vertex_shader GL_ARB_window_pos GL_ATI_draw_buffers GL_ATI_texture_float GL_ATI_texture_mirror_once GL_S3_s3tc GL_EXT_texture_env_add GL_EXT_abgr GL_EXT_bgra GL_EXT_blend_color GL_EXT_blend_equation_separate GL_EXT_blend_func_separate GL_EXT_blend_minmax GL_EXT_blend_subtract GL_EXT_compiled_vertex_array GL_EXT_Cg_shader GL_EXT_bindable_uniform GL_EXT_depth_bounds_test GL_EXT_direct_state_access GL_EXT_draw_buffers2 GL_EXT_draw_instanced GL_EXT_draw_range_elements GL_EXT_fog_coord GL_EXT_framebuffer_blit GL_EXT_framebuffer_multisample GL_EXT_framebuffer_object GL_EXTX_framebuffer_mixed_formats GL_EXT_framebuffer_sRGB GL_EXT_geometry_shader4 GL_EXT_gpu_program_parameters GL_EXT_gpu_shader4 GL_EXT_multi_draw_arrays GL_EXT_packed_depth_stencil GL_EXT_packed_float GL_EXT_packed_pixels GL_EXT_pixel_buffer_object GL_EXT_point_parameters GL_EXT_provoking_vertex GL_EXT_rescale_normal GL_EXT_secondary_color GL_EXT_separate_specular_color GL_EXT_shadow_funcs GL_EXT_stencil_two_side GL_EXT_stencil_wrap GL_EXT_texture3D GL_EXT_texture_array GL_EXT_texture_buffer_object GL_EXT_texture_compression_latc GL_EXT_texture_compression_rgtc GL_EXT_texture_compression_s3tc GL_EXT_texture_cube_map GL_EXT_texture_edge_clamp GL_EXT_texture_env_combine GL_EXT_texture_env_dot3 GL_EXT_texture_filter_anisotropic GL_EXT_texture_integer GL_EXT_texture_lod GL_EXT_texture_lod_bias GL_EXT_texture_mirror_clamp GL_EXT_texture_object GL_EXT_texture_sRGB GL_EXT_texture_swizzle GL_EXT_texture_shared_exponent GL_EXT_timer_query GL_EXT_vertex_array GL_EXT_vertex_array_bgra GL_IBM_rasterpos_clip GL_IBM_texture_mirrored_repeat GL_KTX_buffer_region GL_NV_blend_square GL_NV_copy_depth_to_color GL_NV_depth_buffer_float GL_NV_conditional_render GL_NV_depth_clamp GL_NV_explicit_multisample GL_NV_fence GL_NV_float_buffer GL_NV_fog_distance GL_NV_fragment_program GL_NV_fragment_program_option GL_NV_fragment_program2 GL_NV_framebuffer_multisample_coverage GL_NV_geometry_shader4 GL_NV_gpu_program4 GL_NV_half_float GL_NV_light_max_exponent GL_NV_multisample_coverage GL_NV_multisample_filter_hint GL_NV_occlusion_query GL_NV_packed_depth_stencil GL_NV_parameter_buffer_object GL_NV_pixel_data_range GL_NV_point_sprite GL_NV_primitive_restart GL_NV_register_combiners GL_NV_register_combiners2 GL_NV_texgen_reflection GL_NV_texture_compression_vtc GL_NV_texture_env_combine4 GL_NV_texture_expand_normal GL_NV_texture_rectangle GL_NV_texture_shader GL_NV_texture_shader2 GL_NV_texture_shader3 GL_NV_transform_feedback GL_NV_vertex_array_range GL_NV_vertex_array_range2 GL_NV_vertex_program GL_NV_vertex_program1_1 GL_NV_vertex_program2 GL_NV_vertex_program2_option GL_NV_vertex_program3 GL_NVX_conditional_render GL_NV_vertex_buffer_unified_memory GL_NV_shader_buffer_load GL_SGIS_generate_mipmap GL_SGIS_texture_lod GL_SGIX_depth_texture GL_SGIX_shadow GL_SUN_slice_accum 
+17:43:00: Supported GLX extensions: GLX_EXT_visual_info GLX_EXT_visual_rating GLX_SGIX_fbconfig GLX_SGIX_pbuffer GLX_SGI_video_sync GLX_SGI_swap_control GLX_EXT_texture_from_pixmap GLX_ARB_create_context GLX_ARB_multisample GLX_NV_float_buffer GLX_ARB_fbconfig_float GLX_EXT_framebuffer_sRGB GLX_ARB_get_proc_address 
+17:43:00: ***************************
+17:43:00: *** GL Renderer Started ***
+17:43:00: ***************************
+17:43:00: Registering ResourceManager for type GpuProgram
+17:43:00: GLSL support detected
+17:43:00: GL: Using GL_EXT_framebuffer_object for rendering to textures (best)
+17:43:00: FBO PF_UNKNOWN depth/stencil support: D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:00: FBO PF_L8 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:00: FBO PF_A8 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:00: FBO PF_A4L4 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:00: FBO PF_BYTE_LA depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:01: FBO PF_R5G6B5 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:01: FBO PF_B5G6R5 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:01: FBO PF_A1R5G5B5 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:01: FBO PF_R8G8B8 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:01: FBO PF_B8G8R8 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:01: FBO PF_A8R8G8B8 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:01: FBO PF_B8G8R8A8 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:01: FBO PF_A2R10G10B10 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:01: FBO PF_A2B10G10R10 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:01: FBO PF_FLOAT16_RGB depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:01: FBO PF_FLOAT16_RGBA depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:02: FBO PF_FLOAT32_RGB depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:02: FBO PF_FLOAT32_RGBA depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:02: FBO PF_X8R8G8B8 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:02: FBO PF_X8B8G8R8 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:02: FBO PF_SHORT_RGBA depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:02: FBO PF_R3G3B2 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:02: FBO PF_FLOAT16_R depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:02: FBO PF_FLOAT32_R depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:02: FBO PF_FLOAT16_GR depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:02: FBO PF_FLOAT32_GR depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:02: FBO PF_SHORT_RGB depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 
+17:43:02: [GL] : Valid FBO targets PF_UNKNOWN PF_L8 PF_A8 PF_A4L4 PF_BYTE_LA PF_R5G6B5 PF_B5G6R5 PF_A1R5G5B5 PF_R8G8B8 PF_B8G8R8 PF_A8R8G8B8 PF_B8G8R8A8 PF_A2R10G10B10 PF_A2B10G10R10 PF_FLOAT16_RGB PF_FLOAT16_RGBA PF_FLOAT32_RGB PF_FLOAT32_RGBA PF_X8R8G8B8 PF_X8B8G8R8 PF_SHORT_RGBA PF_R3G3B2 PF_FLOAT16_R PF_FLOAT32_R PF_FLOAT16_GR PF_FLOAT32_GR PF_SHORT_RGB 
+17:43:02: RenderSystem capabilities
+17:43:02: -------------------------
+17:43:02: RenderSystem Name: OpenGL Rendering Subsystem
+17:43:02: GPU Vendor: nvidia
+17:43:02: Device Name: GeForce 9500 GT/PCI/SSE2/3DNOW!
+17:43:02: Driver Version: 3.0.0.0
+17:43:02:  * Fixed function pipeline: yes
+17:43:02:  * Hardware generation of mipmaps: yes
+17:43:02:  * Texture blending: yes
+17:43:02:  * Anisotropic texture filtering: yes
+17:43:02:  * Dot product texture operation: yes
+17:43:02:  * Cube mapping: yes
+17:43:02:  * Hardware stencil buffer: yes
+17:43:02:    - Stencil depth: 8
+17:43:02:    - Two sided stencil support: yes
+17:43:02:    - Wrap stencil values: yes
+17:43:02:  * Hardware vertex / index buffers: yes
+17:43:02:  * Vertex programs: yes
+17:43:02:  * Number of floating-point constants for vertex programs: 1024
+17:43:02:  * Number of integer constants for vertex programs: 0
+17:43:02:  * Number of boolean constants for vertex programs: 0
+17:43:02:  * Fragment programs: yes
+17:43:02:  * Number of floating-point constants for fragment programs: 512
+17:43:02:  * Number of integer constants for fragment programs: 0
+17:43:02:  * Number of boolean constants for fragment programs: 0
+17:43:02:  * Geometry programs: yes
+17:43:02:  * Number of floating-point constants for geometry programs: 512
+17:43:02:  * Number of integer constants for geometry programs: 0
+17:43:02:  * Number of boolean constants for geometry programs: 0
+17:43:02:  * Supported Shader Profiles: arbfp1 arbvp1 fp20 fp30 fp40 glsl gp4gp gpu_gp nvgp4 vp30 vp40
+17:43:02:  * Texture Compression: yes
+17:43:02:    - DXT: yes
+17:43:02:    - VTC: yes
+17:43:02:    - PVRTC: no
+17:43:02:  * Scissor Rectangle: yes
+17:43:02:  * Hardware Occlusion Query: yes
+17:43:02:  * User clip planes: yes
+17:43:02:  * VET_UBYTE4 vertex element type: yes
+17:43:02:  * Infinite far plane projection: yes
+17:43:02:  * Hardware render-to-texture: yes
+17:43:02:  * Floating point textures: yes
+17:43:02:  * Non-power-of-two textures: yes
+17:43:02:  * Volume textures: yes
+17:43:02:  * Multiple Render Targets: 8
+17:43:02:    - With different bit depths: yes
+17:43:02:  * Point Sprites: yes
+17:43:02:  * Extended point parameters: yes
+17:43:02:  * Max Point Size: 63.375
+17:43:02:  * Vertex texture fetch: yes
+17:43:02:  * Number of world matrices: 0
+17:43:02:  * Number of texture units: 32
+17:43:02:  * Stencil buffer depth: 8
+17:43:02:  * Number of vertex blend matrices: 0
+17:43:02:    - Max vertex textures: 32
+17:43:02:    - Vertex textures shared: yes
+17:43:02:  * Render to Vertex Buffer : yes
+17:43:02:  * GL 1.5 without VBO workaround: no
+17:43:02:  * Frame Buffer objects: yes
+17:43:02:  * Frame Buffer objects (ARB extension): no
+17:43:02:  * Frame Buffer objects (ATI extension): no
+17:43:02:  * PBuffer support: no
+17:43:02:  * GL 1.5 without HW-occlusion workaround: no
+17:43:02: Registering ResourceManager for type Texture
+17:43:02: DefaultWorkQueue('Root') initialising on thread 0x9365da8.
+17:43:02: DefaultWorkQueue('Root')::WorkerFunc - thread 0x96397c8 starting.
+17:43:02: Particle Renderer Type 'billboard' registered
+17:43:02: SceneManagerFactory for type 'OctreeSceneManager' registered.
+17:43:02: SceneManagerFactory for type 'TerrainSceneManager' registered.
+17:43:03: Added resource location '/home/ugo/ros_latest/stacks/visualization/rviz/ogre_media/textures' of type 'FileSystem' to resource group 'General'
+17:43:03: Parsing scripts for resource group Autodetect
+17:43:03: Finished parsing scripts for resource group Autodetect
+17:43:03: Parsing scripts for resource group General
+17:43:03: Finished parsing scripts for resource group General
+17:43:03: Parsing scripts for resource group Internal
+17:43:03: Finished parsing scripts for resource group Internal
+17:43:03: Parsing scripts for resource group ogre_tools
+17:43:03: Parsing script point_cloud_billboard.program
+17:43:03: Parsing script point_cloud_box.program
+17:43:03: Parsing script passthrough.program
+17:43:03: Parsing script point_cloud_point.program
+17:43:03: Parsing script point_cloud_box.material
+17:43:03: Parsing script point_cloud_billboard.material
+17:43:03: Parsing script point_cloud_point.material
+17:43:03: Parsing script arial.fontdef
+17:43:03: Finished parsing scripts for resource group ogre_tools
+17:43:03: Creating resource group rviz
+17:43:04: Mesh: Loading ogre_tools_sphere.mesh.
+17:43:04: WARNING: ogre_tools_sphere.mesh is an older format ([MeshSerializer_v1.40]); you should upgrade it as soon as possible using the OgreMeshUpgrade tool.
+17:43:04: Mesh: Loading ogre_tools_cylinder.mesh.
+17:43:04: WARNING: ogre_tools_cylinder.mesh is an older format ([MeshSerializer_v1.40]); you should upgrade it as soon as possible using the OgreMeshUpgrade tool.
+17:43:04: Mesh: Loading ogre_tools_cone.mesh.
+17:43:04: WARNING: ogre_tools_cone.mesh is an older format ([MeshSerializer_v1.40]); you should upgrade it as soon as possible using the OgreMeshUpgrade tool.
+17:43:04: Texture: SelectionRect0Texture: Loading 1 faces(PF_R8G8B8A8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_A8R8G8B8,1x1x1.
+17:43:05: WARNING: package://sr_hand/model/meshes/F1.mesh is an older format ([MeshSerializer_v1.40]); you should upgrade it as soon as possible using the OgreMeshUpgrade tool.
+17:43:05: Can't assign material osg13mat0 to SubEntity of Robot Link0 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Mesh: Loading ogre_tools_cube.mesh.
+17:43:05: WARNING: ogre_tools_cube.mesh is an older format ([MeshSerializer_v1.40]); you should upgrade it as soon as possible using the OgreMeshUpgrade tool.
+17:43:05: Texture: Robot Link Material00RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material00RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: WARNING: package://sr_hand/model/meshes/knuckle.mesh is an older format ([MeshSerializer_v1.40]); you should upgrade it as soon as possible using the OgreMeshUpgrade tool.
+17:43:05: Can't assign material osg2mat0 to SubEntity of Robot Link2 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material01RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material01RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: WARNING: package://sr_hand/model/meshes/F2.mesh is an older format ([MeshSerializer_v1.40]); you should upgrade it as soon as possible using the OgreMeshUpgrade tool.
+17:43:05: Can't assign material osg16mat0 to SubEntity of Robot Link4 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material02RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material02RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: WARNING: package://sr_hand/model/meshes/F3.mesh is an older format ([MeshSerializer_v1.40]); you should upgrade it as soon as possible using the OgreMeshUpgrade tool.
+17:43:05: Can't assign material osg11mat0 to SubEntity of Robot Link6 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material03RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material03RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg13mat0 to SubEntity of Robot Link8 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material04RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material04RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg2mat0 to SubEntity of Robot Link10 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material05RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material05RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: WARNING: package://sr_hand/model/meshes/lfmetacarpal.mesh is an older format ([MeshSerializer_v1.40]); you should upgrade it as soon as possible using the OgreMeshUpgrade tool.
+17:43:05: Can't assign material Material.001 to SubEntity of Robot Link12 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material06RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material06RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg16mat0 to SubEntity of Robot Link14 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material07RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material07RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg11mat0 to SubEntity of Robot Link16 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material08RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material08RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg13mat0 to SubEntity of Robot Link18 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material09RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material09RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg2mat0 to SubEntity of Robot Link20 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material010RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material010RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg16mat0 to SubEntity of Robot Link22 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material011RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material011RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg11mat0 to SubEntity of Robot Link24 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material012RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material012RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: WARNING: package://sr_hand/model/meshes/palm.mesh is an older format ([MeshSerializer_v1.40]); you should upgrade it as soon as possible using the OgreMeshUpgrade tool.
+17:43:05: Can't assign material Material.001 to SubEntity of Robot Link26 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material013RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material013RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg13mat0 to SubEntity of Robot Link28 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material014RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material014RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg2mat0 to SubEntity of Robot Link30 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material015RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material015RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg16mat0 to SubEntity of Robot Link32 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material016RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material016RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg11mat0 to SubEntity of Robot Link34 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material017RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material017RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: WARNING: package://sr_hand/model/meshes/forearm.mesh is an older format ([MeshSerializer_v1.40]); you should upgrade it as soon as possible using the OgreMeshUpgrade tool.
+17:43:05: Can't assign material Material.011 to SubEntity of Robot Link36 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Can't assign material Material.010 to SubEntity of Robot Link36 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Can't assign material Material.009 to SubEntity of Robot Link36 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Can't assign material Material.008 to SubEntity of Robot Link36 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Can't assign material Material.007 to SubEntity of Robot Link36 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Can't assign material Material.006 to SubEntity of Robot Link36 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Can't assign material Material.005 to SubEntity of Robot Link36 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Can't assign material Material.004 to SubEntity of Robot Link36 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Can't assign material Material.003 to SubEntity of Robot Link36 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Can't assign material Material.002 to SubEntity of Robot Link36 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Can't assign material Material.001 to SubEntity of Robot Link36 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material018RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material018RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material018RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material018RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material018RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material018RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material018RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material018RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material018RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material018RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material018RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material018RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material019RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material019RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: WARNING: package://sr_hand/model/meshes/TH1_z.mesh is an older format ([MeshSerializer_v1.40]); you should upgrade it as soon as possible using the OgreMeshUpgrade tool.
+17:43:05: Can't assign material osg20mat0 to SubEntity of Robot Link40 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material020RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material020RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material021RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material021RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: WARNING: package://sr_hand/model/meshes/TH2_z.mesh is an older format ([MeshSerializer_v1.40]); you should upgrade it as soon as possible using the OgreMeshUpgrade tool.
+17:43:05: Can't assign material osg19mat0 to SubEntity of Robot Link44 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material022RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material022RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: WARNING: package://sr_hand/model/meshes/TH3_z.mesh is an older format ([MeshSerializer_v1.40]); you should upgrade it as soon as possible using the OgreMeshUpgrade tool.
+17:43:05: Can't assign material osg18mat0 to SubEntity of Robot Link46 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material023RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material023RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: WARNING: package://sr_hand/model/meshes/wrist.mesh is an older format ([MeshSerializer_v1.40]); you should upgrade it as soon as possible using the OgreMeshUpgrade tool.
+17:43:05: Texture: Robot Link Material024RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material024RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg13mat0 to SubEntity of Robot Link50 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material025RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material025RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg2mat0 to SubEntity of Robot Link52 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material026RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material026RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg16mat0 to SubEntity of Robot Link54 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material027RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material027RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg11mat0 to SubEntity of Robot Link56 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material028RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material028RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg13mat0 to SubEntity of Robot Link58 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material029RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material029RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg2mat0 to SubEntity of Robot Link60 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material030RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material030RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material Material.001 to SubEntity of Robot Link62 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material031RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material031RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg16mat0 to SubEntity of Robot Link64 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material032RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material032RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg11mat0 to SubEntity of Robot Link66 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material033RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material033RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg13mat0 to SubEntity of Robot Link68 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material034RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material034RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg2mat0 to SubEntity of Robot Link70 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material035RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material035RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg16mat0 to SubEntity of Robot Link72 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material036RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material036RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg11mat0 to SubEntity of Robot Link74 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material037RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material037RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material Material.001 to SubEntity of Robot Link76 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material038RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material038RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg13mat0 to SubEntity of Robot Link78 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material039RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material039RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg2mat0 to SubEntity of Robot Link80 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material040RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material040RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg16mat0 to SubEntity of Robot Link82 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material041RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material041RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg11mat0 to SubEntity of Robot Link84 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material042RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material042RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material Material.011 to SubEntity of Robot Link86 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Can't assign material Material.010 to SubEntity of Robot Link86 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Can't assign material Material.009 to SubEntity of Robot Link86 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Can't assign material Material.008 to SubEntity of Robot Link86 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Can't assign material Material.007 to SubEntity of Robot Link86 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Can't assign material Material.006 to SubEntity of Robot Link86 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Can't assign material Material.005 to SubEntity of Robot Link86 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Can't assign material Material.004 to SubEntity of Robot Link86 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Can't assign material Material.003 to SubEntity of Robot Link86 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Can't assign material Material.002 to SubEntity of Robot Link86 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Can't assign material Material.001 to SubEntity of Robot Link86 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material043RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material043RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material043RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material043RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material043RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material043RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material043RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material043RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material043RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material043RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material043RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material043RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material044RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material044RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg20mat0 to SubEntity of Robot Link90 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material045RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material045RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material046RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material046RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg19mat0 to SubEntity of Robot Link94 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material047RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material047RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Can't assign material osg18mat0 to SubEntity of Robot Link96 because this Material does not exist. Have you forgotten to define it in a .material script?
+17:43:05: Texture: Robot Link Material048RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material048RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material049RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:05: Texture: Robot Link Material049RobotPickTexture: Loading 1 faces(PF_R8G8B8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_X8R8G8B8,1x1x1.
+17:43:16: Font Arialusing texture size 512x512
+17:43:16: Info: Freetype returned null for character 160 in font Arial
+17:43:16: Texture: ArialTexture: Loading 1 faces(PF_BYTE_LA,512x512x1) with 0 generated mipmaps from Image. Internal format is PF_BYTE_LA,512x512x1.
+17:43:16: OGRE EXCEPTION(7:InternalErrorException): Vertex Buffer: Out of memory in GLHardwareVertexBuffer::lock at /home/ugo/ros_latest/stacks/visualization_common/ogre/build/ogre_src_v1-7-1/RenderSystems/GL/src/OgreGLHardwareVertexBuffer.cpp (line 126)

=== added directory 'shadow_robot/cyberglove/bin'
=== added directory 'shadow_robot/cyberglove/bin/test'
=== added file 'shadow_robot/cyberglove/cmake_install.cmake'
--- shadow_robot/cyberglove/cmake_install.cmake	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/cmake_install.cmake	2010-11-03 16:17:45 +0000
@@ -0,0 +1,44 @@
+# Install script for directory: /home/ugo/Projects/ROS_interfaces/sr-ros-interface/trunk/shadow_robot/cyberglove
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/usr/local")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  IF(BUILD_TYPE)
+    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "RelWithDebInfo")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+# Install shared libraries without execute permission?
+IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  SET(CMAKE_INSTALL_SO_NO_EXE "1")
+ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+
+IF(CMAKE_INSTALL_COMPONENT)
+  SET(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+ELSE(CMAKE_INSTALL_COMPONENT)
+  SET(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+ENDIF(CMAKE_INSTALL_COMPONENT)
+
+FILE(WRITE "/home/ugo/Projects/ROS_interfaces/sr-ros-interface/trunk/shadow_robot/cyberglove/${CMAKE_INSTALL_MANIFEST}" "")
+FOREACH(file ${CMAKE_INSTALL_MANIFEST_FILES})
+  FILE(APPEND "/home/ugo/Projects/ROS_interfaces/sr-ros-interface/trunk/shadow_robot/cyberglove/${CMAKE_INSTALL_MANIFEST}" "${file}\n")
+ENDFOREACH(file)

=== added file 'shadow_robot/cyberglove/create_eclipse_project'
--- shadow_robot/cyberglove/create_eclipse_project	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/create_eclipse_project	2010-11-03 16:17:45 +0000
@@ -0,0 +1,9 @@
+#!/bin/bash
+
+cd $(dirname $0)
+mv Makefile Makefile.ros
+cmake -G"Eclipse CDT4 - Unix Makefiles" -Wno-dev .
+rm Makefile
+rm CMakeCache.txt
+rm -rf CMakeFiles
+mv Makefile.ros Makefile

=== added file 'shadow_robot/cyberglove/cyberglove.launch'
--- shadow_robot/cyberglove/cyberglove.launch	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/cyberglove.launch	2010-11-03 16:17:45 +0000
@@ -0,0 +1,20 @@
+<launch>
+  
+  <param name="robot_description" textfile="$(find
+  cyberglove)/model/cyberglove.xml"/>
+
+  <node pkg="cyberglove" name="cyberglove" type="cyberglove">
+    <param name="cyberglove_prefix" type="string" value="/cyberglove" />
+    <param name="publish_frequency" type="double" value="20.0" />
+    <param name="path_to_glove" type="string" value="/dev/ttyS0" />
+    <param name="path_to_calibration" type="string" value="$(find
+    sr_control_gui)/param/cyberglove.cal" />
+  </node>
+
+  <!-- Robot state publisher -->
+  <node pkg="robot_state_publisher" type="state_publisher"
+	name="robot_state_publisher">      
+    <param name="publish_frequency" type="double" value="10.0" />
+    <param name="tf_prefix" type="string" value="" />
+  </node>
+</launch>

=== added directory 'shadow_robot/cyberglove/include'
=== added directory 'shadow_robot/cyberglove/include/cyberglove'
=== added file 'shadow_robot/cyberglove/include/cyberglove/cyberglove_publisher.h'
--- shadow_robot/cyberglove/include/cyberglove/cyberglove_publisher.h	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/include/cyberglove/cyberglove_publisher.h	2010-11-03 16:17:45 +0000
@@ -0,0 +1,71 @@
+/**
+ * @file   cyberglove_publisher.h
+ * @author Ugo Cupcic <[e-mail]>, Contact <[e-mail]>
+ * @date   Thu Apr 22 10:25:55 2010
+ * 
+ * @brief  This class reads and publishes data concerning the
+ * cyberglove. To publish those data, just call the publish()
+ * function. 
+ * 
+ * 
+ */
+
+#ifndef   	CYBERGLOVE_PUBLISHER_H_
+# define   	CYBERGLOVE_PUBLISHER_H_
+
+#include <ros/ros.h>
+#include <vector>
+
+//messages
+#include <sensor_msgs/JointState.h>
+#include "cyberglove/xml_calibration_parser.h"
+
+using namespace ros;
+
+namespace cyberglove_publisher{
+
+class CyberglovePublisher
+{
+ public:
+  /// Constructor
+  CyberglovePublisher();
+  
+  /// Destructor
+  ~CyberglovePublisher();
+
+  Publisher cyberglove_pub;
+  void initialize_calibration(std::string path_to_calibration);
+  void publish();
+  bool isPublishing();
+  void setPublishing(bool value);
+ private:
+  /////////////////
+  //  CALLBACKS  //
+  /////////////////
+
+  //ros node handle
+  NodeHandle node, n_tilde;
+  Rate publish_rate;
+  std::string path_to_glove;
+  bool publishing;
+
+  ///the calibration parser
+  xml_calibration_parser::XmlCalibrationParser calibration_parser;
+
+  Publisher cyberglove_raw_pub;
+
+  sensor_msgs::JointState jointstate_msg;
+  sensor_msgs::JointState jointstate_raw_msg;
+
+  void add_jointstate(float position, std::string joint_name);
+
+  std::vector<float> calibration_values;
+
+  float* glovePositions;
+
+  bool checkGloveState();
+
+}; // end class CyberglovePublisher
+
+} // end namespace
+#endif 	    /* !CYBERGLOVE_PUBLISHER_H_ */

=== added file 'shadow_robot/cyberglove/include/cyberglove/cyberglove_service.h'
--- shadow_robot/cyberglove/include/cyberglove/cyberglove_service.h	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/include/cyberglove/cyberglove_service.h	2010-11-03 16:17:45 +0000
@@ -0,0 +1,47 @@
+/**
+ * @file   cyberglove_service.h
+ * @author Ugo Cupcic <[e-mail]>, Contact <[e-mail]>
+ * @date   Thu Apr 22 10:25:55 2010
+ *
+ * @brief   A service which can stop / start the Cyberglove publisher.
+ *
+ *
+ */
+
+
+#ifndef   	CYBERGLOVE_SERVICE_H_
+# define   	CYBERGLOVE_SERVICE_H_
+
+#include <ros/ros.h>
+#include <vector>
+#include "cyberglove_publisher.h"
+#include "cyberglove/Start.h"
+#include "cyberglove/Calibration.h"
+#include <boost/smart_ptr.hpp>
+
+//messages
+
+using namespace ros;
+
+namespace cyberglove_service{
+
+  class CybergloveService
+  {
+  public:
+    /// Constructor
+    CybergloveService(boost::shared_ptr<cyberglove_publisher::CyberglovePublisher> publish);
+    ~CybergloveService(){};
+
+    //CybergloveService();
+    bool start(cyberglove::Start::Request &req, cyberglove::Start::Response &res);
+    bool calibration(cyberglove::Calibration::Request &req, cyberglove::Calibration::Response &res);
+  private:
+    
+    NodeHandle node;
+    boost::shared_ptr<cyberglove_publisher::CyberglovePublisher> pub;
+    ros::ServiceServer service_start;
+    ros::ServiceServer service_calibration;
+  };
+
+}
+#endif

=== added file 'shadow_robot/cyberglove/include/cyberglove/serial_glove.h'
--- shadow_robot/cyberglove/include/cyberglove/serial_glove.h	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/include/cyberglove/serial_glove.h	2010-11-03 16:17:45 +0000
@@ -0,0 +1,48 @@
+/**
+ * @file   serial_glove.h
+ * @author Ugo Cupcic <[e-mail]>
+ * @date   Thu Apr 22 10:25:55 2010
+ *
+ * @brief  The C interface to interact with the cyberglove.
+ *
+ *
+ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef SERIAL_GLOVE_H
+#define SERIAL_GLOVE_H
+
+
+  int setup_glove(const char* path_to_glove);
+  float* glove_get_values(void);
+  int read_button_value(void);
+
+
+#define PORT "3490" // use one port, client request or sends data depending on message
+#define GLOVE_SIZE 22 // number of sensors in the glove
+
+
+
+//! call the enum names directly as if they are #defines
+//! the message protocol headers, for passing or requesting data, or for issuing commands
+
+  typedef enum {  
+    MSG_TEST_CONNECTION = 100,
+    MSG_UPDATE_SETPOINTS,
+    MSG_GET_POSITIONS,
+    MSG_RESTART_ROBOT,  
+
+    MSG_DATA_READY = 200,
+    MSG_DATA_UNAVAILABLE
+  } msg_id_t;
+
+
+
+
+#endif
+
+#ifdef __cplusplus
+}
+#endif

=== added file 'shadow_robot/cyberglove/include/cyberglove/xml_calibration_parser.h'
--- shadow_robot/cyberglove/include/cyberglove/xml_calibration_parser.h	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/include/cyberglove/xml_calibration_parser.h	2010-11-03 16:17:45 +0000
@@ -0,0 +1,119 @@
+/**
+ * @file   xml_calibration_parser.h
+ * @author Ugo Cupcic <[e-mail]>
+ * @date   Tue Apr 27 11:30:41 2010
+ * 
+ * @brief  This is a simple xml parser, used to parse the calibration
+ * file for the cyberglove. 
+ * A Calibration file must have this format:
+ * <Cyberglove_calibration>
+ *   <Joint name="G_ThumbRotate">
+ *     <calib raw_value="0.0" calibrated_value="-60"/>
+ *     <calib raw_value="0.42" calibrated_value="100"/>
+ *   </Joint>
+ * </Cyberglove_calibration>
+ * 
+ * The calibration will be used by the glove node to stream coherent
+ * angles (and not an uncalibrated sensor value between 0 and 1).
+ *
+ * 
+ */
+
+
+#ifndef   	XML_CALIBRATION_PARSER_H_
+# define   	XML_CALIBRATION_PARSER_H_
+
+//xml parser library
+#include <tinyxml/tinyxml.h>
+
+//generic C/C++ include
+#include <string>
+#include <vector>
+#include <map>
+
+namespace xml_calibration_parser{
+
+class XmlCalibrationParser
+{
+ public:
+  XmlCalibrationParser(){};
+  XmlCalibrationParser(std::string path_to_calibration);
+  ~XmlCalibrationParser(){};
+
+  float get_calibration_value(float position, std::string joint_name);
+  
+  struct Calibration
+  {
+    float raw_value;
+    float calibrated_value;
+  };
+
+  struct JointCalibration
+  {
+    std::string name;
+    std::vector<Calibration> calibrations;
+  };
+  
+  
+  std::vector<JointCalibration> getJointsCalibrations();
+
+ protected:
+  void parse_calibration_file( TiXmlNode* pParent );
+  std::vector<Calibration> parse_joint_attributes( TiXmlNode* pParent );
+
+  /// The vector containing the calibration
+  std::vector<JointCalibration> jointsCalibrations;
+  // use a map to easily access the value
+  typedef std::map<std::string, std::vector<float> > mapType;
+  mapType joints_calibrations_map;
+  
+  int build_calibration_table();
+
+  std::vector<float> calibration_to_lookup_table(std::vector<Calibration> calib);
+
+  float compute_lookup_value(int index, std::vector<Calibration> calib);
+
+  float linear_interpolate( float x , 
+			    float x0, float y0, 
+			    float x1, float y1 );
+
+  // consts for the lookup tables
+  static const float lookup_precision;
+  static const float lookup_offset;
+
+  /** 
+   * rounds the given number
+   * 
+   * @param number a float
+   * 
+   * @return the float rounded to the closest int
+   */
+  int round(float number);
+
+  /** 
+   * inline function to convert a raw position to a valid index for
+   * our lookup table
+   * 
+   * @param raw_position the raw position (directly read from the glove)
+   * 
+   * @return the calibrated value
+   */
+  int return_index_from_raw_position(float raw_position);
+
+  /** 
+   * inline function to convert an index of our lookup table to a raw
+   * position.
+   * 
+   * @param lookup_index the index in the lookup table
+   * 
+   * @return the corresponding raw position
+   */
+  static inline float return_raw_position_from_index(int lookup_index)
+  {
+    return ((float)lookup_index)/lookup_precision;
+  };
+  
+}; // end class XmlCalibrationParser
+
+} // end namespace
+#endif 	    /* !XML_CALIBRATION_PARSER_H_ */

=== added file 'shadow_robot/cyberglove/mainpage.dox'
--- shadow_robot/cyberglove/mainpage.dox	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/mainpage.dox	2010-11-03 16:17:45 +0000
@@ -0,0 +1,32 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b cyberglove is a generic ROS interface to Immersion's Cyberglove dataglove. 
+It reads the data from the Cyberglove, calibrate them using a calibration file and stream them to 2 different 
+/joint_states topics: one for the raw data the other one for the calibrated data. There's a utility in sr_control_gui
+which can be used to generate a calibration file for a specific user in a few steps.
+
+If the button on the wrist is off, the glove won't publish any data.
+
+The calibration file can't be dynamically loaded for the time being, so if you \b change \b the \b calibration then 
+don't forget to \b restart \b the \b cyberglove \b node. 
+
+\section howtouse How To Use
+To run the cyberglove node, just run:
+\verbatim roslaunch cyberglove cyberglove.launch \endverbatim
+
+You can specify some parameters in the launch file:
+\li cyberglove_prefix The prefix to put in front of the joint_states published by the glove.
+\li publish_frequency The frequency at which you want to publish the data.
+\li path_to_glove The path to the port on which the Cyberglove is connected (usually /dev/ttyS0)
+\li path_to_calibration The path to the calibration file for the Cyberglove
+
+
+\section codeapi Code API
+\li serial_glove.h The C interface to interact with the cyberglove
+\li xml_calibration_parser::XmlCalibrationParser The calibration file parser.
+\li cyberglove_service::CybergloveService A service which can stop / start the Cyberglove publisher.
+\li cyberglove_publisher::CyberglovePublisher The actual publisher streaming the data from the cyberglove.
+
+*/

=== added file 'shadow_robot/cyberglove/manifest.xml'
--- shadow_robot/cyberglove/manifest.xml	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/manifest.xml	2010-11-03 16:17:45 +0000
@@ -0,0 +1,29 @@
+<package>
+  <description brief="Cyberglove ROS interface">
+
+     This is a generic ROS interface to the Cyberglove from Immersion. It reads data from the Cyberglove, calibrate them
+     and streams them to two different /joint_states topic: calibrated and raw data. 
+
+  </description>
+  <author>Ugo Cupcic</author>
+  <license>GPL</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/cyberglove</url>
+  <depend package="roslib"/>
+  <depend package="rospy"/>
+  <depend package="roscpp"/>
+  <depend package="std_msgs"/>
+  <depend package="sensor_msgs"/>
+  <depend package="diagnostic_msgs"/>
+  <depend package="tinyxml"/>
+
+
+  <export>
+    <cpp cflags="-I${prefix}/include/"/>
+    <python path="${prefix}/python_lib"/>
+    <python path="${prefix}/src"/>
+  </export>
+
+</package>
+
+

=== added directory 'shadow_robot/cyberglove/model'
=== added file 'shadow_robot/cyberglove/model/cyberglove.xml'
--- shadow_robot/cyberglove/model/cyberglove.xml	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/model/cyberglove.xml	2010-11-03 16:17:45 +0000
@@ -0,0 +1,129 @@
+<robot name="cyberglove">
+  <link name="cyberglove_forearm">
+    <inertial>
+      <mass value="3.0" />
+      <origin xyz="0 0 0.090" /> 
+      <inertia  ixx="1.0" ixy="0.0"  ixz="0.0"  iyy="100.0"  iyz="0.0"  izz="1.0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry name="cyberglove_forearm_geom">
+        <cylinder radius="0.06" length="0.180"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry name="cyberglove_forearm_collision">
+        <cylinder radius="0.06" length="0.180"/>
+      </geometry>
+      <origin xyz="1 0 0" rpy="0 0 0 " />
+      <geometry name="cyberglove_forearm_collision_geom">
+        <box size="0.05 0.05 0.10" />
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- FIRST FINGER-->
+
+  <link name="ffproximal">
+    <inertial>
+      <mass value="0.008" />
+      <origin xyz="0 0.010 0.233" /> 
+      <inertia  ixx="1.0" ixy="0.0"  ixz="0.0"  iyy="100.0"  iyz="0.0"
+      izz="1.0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0.0225" rpy="0 0 0" />
+      <geometry name="ffproximal_geom">
+        <cylinder radius="0.005" length="0.045"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0 " />
+      <geometry name="ffproximal_collision_geom">
+        <box size="0.05 0.05 0.10" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="ffmiddle">
+    <inertial>
+      <origin xyz="0 0 0.045" rpy="0 0 0" />
+      <mass value="0.008" />
+      <inertia  ixx="1.0" ixy="0.0"  ixz="0.0"  iyy="100.0"  iyz="0.0"
+      izz="1.0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0.0125" rpy="0 0 0" />
+      <geometry name="ffmiddle_geom">
+        <cylinder radius="0.005" length="0.025"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry name="ffmiddle_collision_geom">
+        <box size="0.05 0.05 0.10" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="ffdistal">
+    <inertial>
+      <mass value="0.008" />
+      <origin xyz="0 0 0.025" /> 
+      <inertia  ixx="1.0" ixy="0.0"  ixz="0.0"  iyy="100.0"  iyz="0.0"
+      izz="1.0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0.013" rpy="0 0 0" />
+      <geometry name="ffdistal_geom">
+        <cylinder radius="0.005" length="0.026"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0 " />
+      <geometry name="ffdistal_collision_geom">
+        <box size="0.05 0.05 0.10" />
+      </geometry>
+    </collision>
+  </link>
+
+ <!--------------------------------
+|             JOINTS               |
+ --------------------------------->   
+<!--
+ <joint name="attachment" type="continuous">
+   <parent link="world"/>
+   <child link="cyberglove_forearm"/>
+   <origin xyz="5 0 0" rpy="0 0 3.14" />
+   <axis xyz="0 1 0" />
+ </joint>
+ -->
+  <joint name="G_IndexPIJ" type="revolute">
+    <parent link="cyberglove_forearm"/>
+    <child link="ffproximal"/>   
+    <origin xyz="0 0.010 0.233" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.5707963267948966"
+    effort="10" velocity="1.0"/>
+  </joint>
+
+  <joint name="G_IndexMPJ" type="revolute">
+    <parent link="ffproximal"/>
+    <child link="ffmiddle"/>
+    <origin xyz="0 0 0.045" rpy="0 0 0" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="1.5707963267948966" effort="10"
+    velocity="1.0"/>
+  </joint>
+
+  <joint name="G_IndexDIJ" type="revolute">
+    <parent link="ffmiddle"/>
+    <child link="ffdistal"/>
+    <origin xyz="0 0 0.025" rpy="0 0 0" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="1.5707963267948966" effort="10"
+    velocity="1.0"/>
+  </joint>
+
+</robot>

=== added directory 'shadow_robot/cyberglove/python_lib'
=== added file 'shadow_robot/cyberglove/python_lib/cyberglove_calibrer.py'
--- shadow_robot/cyberglove/python_lib/cyberglove_calibrer.py	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/python_lib/cyberglove_calibrer.py	2010-11-03 16:17:45 +0000
@@ -0,0 +1,317 @@
+#!/usr/bin/env python
+"""
+Calibration utility for the cyberglove.
+
+@author: Ugo Cupcic
+@contact: [e-mail], [e-mail]
+"""
+import roslib; roslib.load_manifest('sr_control_gui')
+
+import os
+from cyberglove_library import Cyberglove
+from cyberglove.srv import Calibration as CalibrationSrv
+
+import rospy
+
+class Joint:
+    """
+    A class containing simple information regarding a joint: name, and calibrated value
+    """
+    def __init__(self, name, min=0, max = 90):
+        """
+        @param name: the name of the joint
+        @param min: the min value to calibrate
+        @param max: the max value to calibrate   
+        """
+        self.name  = name
+        self.min = min
+        self.max = max
+        
+
+class CalibrationStep:
+    """
+    A class containing all the data for a given calibration step
+    """
+    def __init__(self, step_name="", step_description = [""], joints = []):
+        """
+        @param step_name: A short name for this calibration step 
+        @param step_description: A table containing 2 descriptions: the first one describes the min pose, the second 
+        the max
+        @param joints: A table containing the joints to be calibrated 
+        
+        """    
+        self.step_name    = step_name
+        self.step_description = step_description
+        self.joints = joints
+        
+class Calibration:
+    """
+    A class Containing all the calibration data for a given joint.
+    """
+    def __init__(self, raw_min = 0.0, raw_max= 0.0, 
+                 calibrated_min = 0.0, calibrated_max= 0.0,
+                 is_calibrated = 0):
+        self.raw_min        = raw_min
+        self.raw_max        = raw_max
+        self.calibrated_min = calibrated_min
+        self.calibrated_max = calibrated_max
+        self.is_calibrated  = is_calibrated
+    
+def default_description(step_name, max = 0):
+    """
+    The default description function for a step. Just prints a text for each step.
+    
+    @param step_name: the name of the step
+    @param max: if 0=>we're reading the min values, if 1=> max values
+    """
+    if max == 0:
+        print "calibrating min values for: "+ str(step_name)
+    else:        
+        print "calibrating max values for: "+ str(step_name)
+        
+def do_nothing(step_name, max = 0):
+    """
+    A function that does nothing. Used to have an empty description function.
+    """
+    nothing = True
+    
+class CybergloveCalibrer:
+    """
+    A utility to calibrate the cyberglove.
+    """
+    def __init__(self, description_function = default_description):
+        """
+        Initialize some class variables: a table containing the calibration steps, a connection to the cyberglove
+        library and a description function for the calibration steps
+        
+        @param description_function: specify a function you want to use to describe the calibration steps ( text / 
+        pictures / animation / ... ). Must take a joint name as parameter.
+        """        
+        self.calibration_steps = []
+                
+        self.cyberglove = Cyberglove()
+        
+        # fill the table containing all the joints
+        self.joints = {}
+        for name in self.cyberglove.get_joints_names():
+            self.joints[name] = Calibration()
+        
+        self.get_calibration_steps()
+        
+        if description_function == None:
+            description_function = do_nothing
+        self.description_function = description_function
+        
+    def get_calibration_steps(self):
+        """
+        Read the calibration steps from the xml file.
+        
+        @return: 0 when the values were read.
+        """
+        
+        #first step: calibrate 0s, 3s and TH4 
+        joints1 = [Joint("G_IndexMPJ", 0, 90), Joint("G_IndexPIJ", 0, 90), Joint("G_IndexDIJ", 0, 90), 
+                  Joint("G_MiddleMPJ", 0, 90), Joint("G_MiddlePIJ", 0, 90), Joint("G_MiddleDIJ", 0, 90),
+                  Joint("G_RingMPJ", 0, 90), Joint("G_RingPIJ", 0, 90), Joint("G_RingDIJ", 0, 90),
+                  Joint("G_PinkieMPJ", 0, 90), Joint("G_PinkiePIJ", 0, 90), Joint("G_PinkieDIJ", 0, 90),
+                  Joint("G_ThumbAb", 50, 0) ]
+        self.calibration_steps.append(CalibrationStep(step_name="Joints 0s, 3s and thumb abduction (THJ4)",
+                                                      step_description = ["Hand flat on a table, fingers joined, thumb opened",
+                                                                          "Hand forming a fist, thumb closed"],
+                                                      joints = joints1 ))
+        
+        #second step: calibrate 4s, TH1, TH2, TH5 and WR2
+        joints2 = [Joint("G_ThumbIJ", 90, 0), Joint("G_ThumbMPJ", 30, -30),  
+                   Joint("G_MiddleIndexAb", 0, 50), Joint("G_RingMiddleAb", 0, 50), Joint("G_PinkieRingAb", 0, 50),
+                   Joint("G_WristYaw", 10, -30)]
+        self.calibration_steps.append(CalibrationStep(step_name="Joints 4s + TH1, 2, and WR2",
+                                                      step_description = ["Hand flat fingers joined, thumb completely curled under the palm, wrist 2 bent to the left",
+                                                                          "Hand flat fingers apart, thumb completely opened, wrist bent 2 to the right"],
+                                                      joints = joints2 ))
+        
+        #third step: calibrate TH5 
+        joints3 = [Joint("G_ThumbRotate", 60, -60)]
+        self.calibration_steps.append(CalibrationStep(step_name="Joint TH5",
+                                                      step_description = ["thumb completely under the palm",
+                                                                          "thumb completely opened, curled over the palm"],
+                                                      joints = joints3 ))
+        
+        #fourth step: calibrate LF5 and WR1
+        joints4 = [Joint("G_PalmArch", 0, 40), Joint("G_WristPitch", -30, 40)]
+        self.calibration_steps.append(CalibrationStep(step_name="LF5 and WR1",
+                                                      step_description = ["Hand flat, wrist 1 bent backward",
+                                                                          "Palm curled (LFJ5), wrist 1 bent forward"],
+                                                      joints = joints4 ))
+        
+        return 0
+        
+    def do_step_min(self, index):
+        """
+        Run  the given step of the calibration, gets the min values.
+        
+        @param index: the index of the step in the calibration file
+        @return: 0 when the values were read. 
+        """
+        joints = self.calibration_steps[index].joints
+        # display the description
+        self.description_function(self.calibration_steps[index].step_description[0], 0)
+        
+        for joint in joints:
+            name = joint.name         
+            #read the min values
+            self.joints[name].raw_min = self.cyberglove.read_raw_average_value(name)
+            self.joints[name].calibrated_min = joint.min
+            #still needs to read the max before fully calibrated
+            self.joints[name].is_calibrated += 0.5
+        return 0
+        
+    def do_step_max(self, index):
+        """
+        Run  the given step of the calibration, gets the max values.
+        As this method is called after the do_step_min() method, we don't display the description
+        
+        @param index: the index of the step in the calibration file
+        @return: 0 when the values were read. 
+        """
+        joints = self.calibration_steps[index].joints
+        # display the description
+        self.description_function(self.calibration_steps[index].step_description[1], 0)
+        
+        for joint in joints:
+            name = joint.name         
+            #read the max values
+            self.joints[name].raw_max = self.cyberglove.read_raw_average_value(name)
+            self.joints[name].calibrated_max = joint.max
+            #still needs to read the max before fully calibrated
+            self.joints[name].is_calibrated += 0.5
+        return 0
+    
+    def is_step_done(self, joint_name):
+        """
+        Check if the joint is calibrated.
+        
+        @param joint_name: the name of the joint
+        @return: 1 if the joint has already been calibrated. 
+        """
+        
+        return self.joints[joint_name].is_calibrated
+        
+    def all_steps_done(self):
+        """
+        Check if all the steps were processed.
+        
+        @return: True if all the steps were processed. 
+        """
+        for calib in self.joints.values():
+            if calib.is_calibrated != 1:
+                return False
+
+        return True
+    
+    def reorder_calibration(self):
+        """
+        Reorder the calibration: set the raw_min to the min raw_value
+        """
+        for name in self.joints.keys():
+            if self.joints[name].raw_min > self.joints[name].raw_max:
+                tmp_raw = self.joints[name].raw_min
+                tmp_cal = self.joints[name].calibrated_min
+                self.joints[name].raw_min = self.joints[name].raw_max
+                self.joints[name].calibrated_min = self.joints[name].calibrated_max
+                self.joints[name].raw_max = tmp_raw
+                self.joints[name].calibrated_max = tmp_cal
+    
+    def write_calibration_file(self, filepath):
+        """
+        Checks if all the steps were processed by calling self.all_steps_done()
+        Reorder the calibration
+        Then writes the whole calibration to a given file.
+        
+        @param filepath: Where to write the calibration
+        @return: 0 if the file has been written, 
+                -1 if the calibration is not finished yet,
+                -2 if other error     
+        """
+        
+        #Where all the steps processed?
+        if not self.all_steps_done():
+            return -1
+        
+        #reorder the calibration
+        self.reorder_calibration()        
+        
+        ###############
+        # Write to an xml file
+        ###############
+        #store the text in a table
+        text = []
+                
+        text.append("<?xml version=\"1.0\" ?>")
+        text.append("<Cyberglove_calibration>")
+        for name in self.joints:
+            #joint name
+            text.append("<Joint name=\""+name+"\">")
+            
+            cal = self.joints[name]
+            #min value
+            text.append("<calib raw_value=\""+str(cal.raw_min)
+                            +"\" calibrated_value=\""
+                            +str(cal.calibrated_min)+"\"/>")
+            
+            #max value
+            text.append("<calib raw_value=\""+str(cal.raw_max)
+                            +"\" calibrated_value=\""
+                            +str(cal.calibrated_max)+"\"/>")
+            
+            text.append("</Joint>")
+        
+        text.append("</Cyberglove_calibration>")
+        
+        #write the text to a file
+        try:
+            output = open(filepath, "w")
+            for line in text:
+                output.write(line+"\n")
+            
+            output.close()
+        except:
+            return -2
+
+        return 0
+    
+    def load_calib(self, filename):
+        if filename == "":
+            return -1
+        
+        rospy.wait_for_service('/cyberglove/calibration')
+        try:
+            calib = rospy.ServiceProxy('cyberglove/calibration', CalibrationSrv)
+            path = filename.encode("iso-8859-1")
+            resp = calib(path)
+            return resp.state
+        except rospy.ServiceException, e:
+            print 'Failed to call start service'
+            return -2
+    
+    
+
+##############
+#    MAIN    #
+##############
+def main():
+    cyber_calib = CybergloveCalibrer()
+    for i in range(0, len(cyber_calib.calibration_steps)):
+        raw_input(cyber_calib.calibration_steps[i].step_description[0])
+        cyber_calib.do_step_min(i)
+        raw_input(cyber_calib.calibration_steps[i].step_description[1])
+        
+        cyber_calib.do_step_max(i)
+    error = cyber_calib.write_calibration_file("../../param/cyberglove.cal")
+    print error
+    
+    return 0
+
+
+# start the script
+if __name__ == "__main__":
+    main()

=== added file 'shadow_robot/cyberglove/python_lib/cyberglove_library.py'
--- shadow_robot/cyberglove/python_lib/cyberglove_library.py	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/python_lib/cyberglove_library.py	2010-11-03 16:17:45 +0000
@@ -0,0 +1,152 @@
+import roslib; roslib.load_manifest('sr_control_gui')
+import time
+import os
+import math
+import rospy
+import subprocess
+import threading
+import rosgraph.masterapi
+from sr_hand.msg import sendupdate, joint, joints_data
+from sensor_msgs.msg import *
+
+class Joint():
+    def __init__(self, name="", motor="", min=0, max=90):
+        self.name = name
+        self.motor = motor
+        self.min = min
+        self.max = max
+
+class Cyberglove:
+    """
+    Interface to the Cyberglove publisher. 
+    """
+    def __init__(self, max_values = 2):
+        self.joints = { "G_ThumbRotate": Joint(),
+                        "G_ThumbMPJ": Joint(),
+                        "G_ThumbIJ": Joint(),
+                        "G_ThumbAb": Joint(),
+                        "G_IndexMPJ": Joint(),
+                        "G_IndexPIJ": Joint(),
+                        "G_IndexDIJ": Joint(),
+                        "G_MiddleMPJ": Joint(),
+                        "G_MiddlePIJ": Joint(),
+                        "G_MiddleDIJ": Joint(),
+                        "G_MiddleIndexAb": Joint(),
+                        "G_RingMPJ": Joint(),
+                        "G_RingPIJ": Joint(),
+                        "G_RingDIJ": Joint(),
+                        "G_RingMiddleAb": Joint(),
+                        "G_PinkieMPJ": Joint(),
+                        "G_PinkiePIJ": Joint(),
+                        "G_PinkieDIJ": Joint(),
+                        "G_PinkieRingAb": Joint(),
+                        "G_PalmArch": Joint(),
+                        "G_WristPitch": Joint(),
+                        "G_WristYaw": Joint() }
+
+        self.raw_messages = []
+        self.calibrated_messages = []        
+        self.max_values = max_values
+        self.map = {}
+        self.hasglove = 0
+        self.isFirstMessage = True
+        self.liste = 0       
+        self.raw = rospy.Subscriber('/cyberglove/raw/joint_states',JointState,self.callback_raw)
+        self.calibrated = rospy.Subscriber('/cyberglove/calibrated/joint_states',JointState,self.callback_calibrated)
+        threading.Thread(None, rospy.spin)
+        if self.has_glove():
+            time.sleep(1.0)
+            self.createMap()
+        else:
+            raise Exception("No glove found")
+        
+    def callback_raw(self, data):
+        """
+        Adds the last values received to the list of raw values
+        @param data: the message which called the callback
+        """
+        self.addValue(self.raw_messages, data)
+        
+    def callback_calibrated(self, data):
+        """
+        Adds the last values received to the list of calibrated values
+        @param data: the message which called the callback
+        """
+        self.addValue(self.calibrated_messages, data)
+
+    def addValue(self, vector, value):
+        """
+        Fills a vector with the received values, and replaces the old values
+        when the vector is full
+        @param vector : the vector to fill (raw or calibrated)
+        @param value : the value to add
+        """
+        if len(vector) < self.max_values:
+            vector.append(value)
+        else:
+            vector.pop(0)
+            vector.append(value)
+    
+    def createMap(self):
+        """
+        Maps the name of the joints to their index in the message
+        """
+        for index in range(0, len(self.raw_messages[0].name)):
+            self.map[self.raw_messages[0].name[index]] = index
+
+    def read_raw_average_value(self, joint_name):
+        """
+        return the raw value of a given joint
+        
+        @param joint_name: the name of the glove of the Cyberglove 
+        """
+        raw_value =  0
+        joint_index = self.map[joint_name]
+        for index in range(0, len(self.raw_messages)):
+            raw_value = raw_value + self.raw_messages[index].position[joint_index]
+        
+        raw_value = raw_value / len(self.raw_messages)
+        
+        return raw_value 
+    
+    def read_calibrated_average_value(self, joint_name):
+        """
+        return the current positions for the given joint_name
+        
+        @param joint_name:  the name of the joint 
+        @return: the corresponding position 
+        """
+        
+        calibrated_value = 0
+        
+        joint_index = self.map[joint_name]
+        for index in range(0, len(self.calibrated_messages)):
+            calibrated_value = calibrated_value + self.calibrated_messages[index].position[joint_index]
+        
+        calibrated_value = calibrated_value / len(self.calibrated_messages)
+        
+        return calibrated_value
+    
+    def get_joints_names(self):
+        """
+        Return an array containing the Cyberglove joints names
+        
+        @return: the joints names array 
+        """
+        return self.joints.keys()
+        
+    def has_glove(self):
+        """
+        @return: True if a cyberglove is detected by ROS
+        """
+        if not self.hasglove == 0:
+            return self.hasglove
+        self.hasglove = False
+        if self.liste == 0:
+            master = rosgraph.masterapi.Master('/rostopic')
+            self.liste = master.getPublishedTopics('/')
+        for topic_typ in self.liste : 
+            for topic in topic_typ: 
+                if '/cyberglove' in topic :
+                    self.hasglove = True
+        return self.hasglove

=== added file 'shadow_robot/cyberglove/python_lib/cyberglove_mapper.py'
--- shadow_robot/cyberglove/python_lib/cyberglove_mapper.py	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/python_lib/cyberglove_mapper.py	2010-11-03 16:17:45 +0000
@@ -0,0 +1,355 @@
+#!/usr/bin/env python
+"""
+Minimizes the mapping matrix using a simplex algorithm
+
+@author: Ugo Cupcic
+@contact: [e-mail], [e-mail]
+"""
+
+import roslib; roslib.load_manifest('sr_control_gui')
+import rospy
+from scipy.optimize import fmin  
+from cyberglove_library import Cyberglove
+
+class MappingConfiguration:
+    def __init__(self, glove_data = [], hand_data = [], description = ""):
+        self.glove_data = glove_data
+        self.hand_data = hand_data
+        self.description = description
+        
+    def copy(self):
+        tmp = MappingConfiguration(self.glove_data, self.hand_data, self.description)
+        return tmp
+
+class MappingMinimizer:
+    def __init__(self, verbose = 1):
+        rospy.init_node("cyberglove_mapper_minimizer")
+        #connect to the cyberglove
+        self.cyberglove = Cyberglove()
+        
+        self.verbose = verbose
+        
+        glove_sensors = ["G_ThumbRotate", "G_ThumbMPJ", "G_ThumbIJ", "G_ThumbAb", "G_IndexMPJ", "G_IndexPIJ", 
+                         "G_IndexDIJ", "G_MiddleMPJ", "G_MiddlePIJ", "G_MiddleDIJ", "G_MiddleIndexAb", "G_RingMPJ", 
+                         "G_RingPIJ", "G_RingDIJ", "G_RingMiddleAb", "G_PinkieMPJ", "G_PinkiePIJ", "G_PinkieDIJ", 
+                         "G_PinkieRingAb", "G_PalmArch", "G_WristPitch", "G_WristYaw"]
+        
+        index = 0        
+        self.glove_name_index_map = {} 
+        for sensor in glove_sensors:
+            self.glove_name_index_map[sensor] = index
+            index += 1
+        
+        # fill the table containing all the joints
+        hand_joints = ["TH1","TH2","TH3","TH4","TH5","FF0","FF3","FF4","MF0","MF3","MF4","RF0","RF3","RF4","LF0",
+                       "LF3","LF4","LF5","WR1","WR2"]
+        
+        index = 0        
+        self.hand_name_index_map = {} 
+        for sensor in hand_joints:
+            self.hand_name_index_map[sensor] = index
+            index += 1
+        
+        self.thumb_glove = { "G_ThumbRotate": 0,
+                             "G_ThumbMPJ":    1,
+                             "G_ThumbAb":     2 }
+        
+        self.thumb_hand = { "TH2":           0,
+                            "TH4":           1,
+                            "TH5":           2 }
+                
+        self.configurations = []
+        self.initialise_configurations()
+        
+        self.simplex_iteration_index = 0
+        
+        if(self.verbose == 1):
+            for conf in self.configurations:
+                print "-------"
+                print conf.description
+                print conf.glove_data
+                print conf.hand_data
+            print "-------"
+            print ""
+            
+        self.minerror = 1000000
+        self.maxerror = 0
+                
+    def initialise_configurations(self):
+        configuration = MappingConfiguration()
+        
+        ###
+        # First configuration
+        configuration.description = "All fingers and thumb are curved maximum in a punch form ... "
+        configuration.glove_data = []
+        #corresponding data for the hand
+        configuration.hand_data = [[30.0, 52.0, 5.0],
+                                   [30.0, 43.0, 0.0],
+                                   [30.0, 68.0, 16.0]
+                                   ]
+                
+        self.configurations.append(configuration.copy())
+        
+        ###
+        # Second configuration
+        configuration.description = "Thumb touching first finger tip ... "
+        configuration.glove_data = []
+        #corresponding data for the hand
+        configuration.hand_data = [[30.0, 54.0, -5.0],
+                                   [19.0, 58.0, 28.0]]
+                
+        self.configurations.append(configuration.copy())
+        
+        ###
+        # Third configuration
+        configuration.description = "Thumb touching middle finger tip ... "
+        configuration.glove_data = []
+        #corresponding data for the hand
+        configuration.hand_data = [[30.0, 64.0, 9.0],
+                                   [1.0, 68.0, 29.0]]
+                
+        self.configurations.append(configuration.copy())
+        
+        ###
+        # Fourth configuration
+        configuration.description = "Thumb touching ring finger tip ... "
+        configuration.glove_data = []
+        #corresponding data for the hand
+        configuration.hand_data = [[30.0, 75.0, 19.0],
+                                   [1.0, 75.0, 42.0]]
+        
+        self.configurations.append(configuration.copy())
+        
+        ###
+        # Fifth configuration
+        configuration.description = "Thumb touching little finger tip ... "
+        configuration.glove_data = []
+        #corresponding data for the hand
+        configuration.hand_data = [[30.0, 75.0, 3.0],
+                                   [1.0, 75.0, 35.0]]      
+                
+        self.configurations.append(configuration.copy())
+        
+        ###
+        # Sixth configuration
+        configuration.description = "Thumb touching all the finger tips ... "
+        configuration.glove_data = []
+        #corresponding data for the hand
+        configuration.hand_data = [[-30.0, 75.0, 60.0],
+                                   [-7.0, 63.0, 60.0]]       
+                
+        self.configurations.append(configuration.copy())
+
+        ###
+        # Seventh configuration
+        configuration.description = "hand flat, thumb relaxed along the fingers "
+        configuration.glove_data = []
+        #corresponding data for the hand
+        configuration.hand_data = [[0.0, 0.0, -60.0]]       
+                
+        self.configurations.append(configuration.copy())
+        
+        ###
+        # Eigth configuration
+        configuration.description = "hand flat, thumb opened "
+        configuration.glove_data = []
+        #corresponding data for the hand
+        configuration.hand_data = [[0.0, 75.0, -60.0]]         
+                
+        self.configurations.append(configuration.copy())
+
+    def evaluation_function(self, matrix):
+        """
+        The error is computed by adding the square error for each configuration.
+        """
+        error = 0
+        
+        #rebuild the matrix as a matrix, not a vector (the implementation of the simplex in scipy works on vectors
+        matrix_tmp = []
+        for i in range(len(self.thumb_glove)):
+            line = []
+            for j in range(len(self.thumb_hand)):
+                line.append(matrix[i*len(self.thumb_hand)+j])
+            matrix_tmp.append(line)
+            
+        matrix = matrix_tmp
+        computed_vector_hand = []
+        
+        for config in self.configurations:
+            #get the hand vectors from the glove data
+            for vec_glove in config.glove_data:
+                computed_vector_hand.append(self.multiply(vec_glove, matrix))
+            
+            #compute the square error
+            for vec_comp, vec_hand in zip(computed_vector_hand, config.hand_data):
+                for computed_hand_data in vec_comp:
+                    for hand_data in vec_hand:
+                        error += (computed_hand_data-hand_data)*(computed_hand_data-hand_data)
+                
+        if self.verbose == 1:
+            print "error: "+str(error)
+        
+        if error < self.minerror:
+            self.minerror = error
+        
+        if error > self.maxerror:
+            self.maxerror = error
+            
+        return error
+        
+    def multiply(self, vector_glove, matrix):
+        """
+        multiply the vector by the matrix. Returns a vector.
+        """
+        vector_hand = []
+        index_col = 0
+        print vector_glove
+        print matrix
+        for glove_data in vector_glove:
+            data = 0
+            for line in matrix:
+                data += (glove_data*line[index_col])
+            vector_hand.append(data)
+            index_col += 1
+        
+        return vector_hand
+    
+    def callback(self, xk):
+        """
+        Function called at each iteration
+        """
+        self.simplex_iteration_index += 1
+        if self.simplex_iteration_index % 50 == 0:
+            print "-------------------------"
+            print "iteration number: "+ str(self.simplex_iteration_index)
+            #print xk
+        
+    def minimize(self):
+        start = []
+        for i in range(0, len(self.thumb_hand)):
+            line = []
+            for j in range(0, len(self.thumb_glove)):
+                line.append(0.1)
+            start.append(line)
+        
+        
+        xopt = fmin(self.evaluation_function, start, callback=self.callback, maxiter = 5000)
+        
+        #rebuild the result as a matrix, not a vector (the implementation of the simplex in scipy works on vectors
+        output = []
+        for i in range(len(self.thumb_glove)):
+            line = []
+            for j in range(len(self.thumb_hand)):
+                line.append(xopt[i*len(self.thumb_hand)+j])
+            output.append(line)
+        
+        print "min error: "+ str(self.minerror)
+        print "max error: "+ str(self.maxerror)
+        
+        return output
+    
+    def write_full_mapping(self, output_path = "../../../param/GloveToHandMappings"):
+        """
+        Writes the mapping matrix to a file:
+        the glove values are the lines, the hand values are the columns
+        """
+        
+        #initialise the matrix with 0s
+        mapping_matrix = []
+        for i in range(0, len(self.glove_name_index_map)):
+            line = []
+            for j in range(0, len(self.hand_name_index_map)):
+                line.append(0.0)
+            mapping_matrix.append(line)
+        
+        # TH3 is always 0, RF4 as well
+        #fill the matrix with the known values + th1 (all except the thumb)
+        mapping_matrix[self.glove_name_index_map["G_IndexDIJ"]][self.hand_name_index_map["FF0"]] = 1.0
+        mapping_matrix[self.glove_name_index_map["G_IndexPIJ"]][self.hand_name_index_map["FF0"]] = 1.0
+        mapping_matrix[self.glove_name_index_map["G_IndexMPJ"]][self.hand_name_index_map["FF3"]] = 1.0
+        mapping_matrix[self.glove_name_index_map["G_MiddleIndexAb"]][self.hand_name_index_map["FF4"]] = -1.0
+        
+        mapping_matrix[self.glove_name_index_map["G_MiddleDIJ"]][self.hand_name_index_map["MF0"]] = 1.0
+        mapping_matrix[self.glove_name_index_map["G_MiddlePIJ"]][self.hand_name_index_map["MF0"]] = 1.0
+        mapping_matrix[self.glove_name_index_map["G_MiddleMPJ"]][self.hand_name_index_map["MF3"]] = 1.0
+        mapping_matrix[self.glove_name_index_map["G_RingMiddleAb"]][self.hand_name_index_map["MF4"]] = -1.0
+        
+        mapping_matrix[self.glove_name_index_map["G_RingDIJ"]][self.hand_name_index_map["RF0"]] = 1.0
+        mapping_matrix[self.glove_name_index_map["G_RingPIJ"]][self.hand_name_index_map["RF0"]] = 1.0
+        mapping_matrix[self.glove_name_index_map["G_RingMPJ"]][self.hand_name_index_map["RF3"]] = 1.0
+        
+        mapping_matrix[self.glove_name_index_map["G_PinkieDIJ"]][self.hand_name_index_map["LF0"]] = 1.0
+        mapping_matrix[self.glove_name_index_map["G_PinkiePIJ"]][self.hand_name_index_map["LF0"]] = 1.0
+        mapping_matrix[self.glove_name_index_map["G_PinkieMPJ"]][self.hand_name_index_map["LF3"]] = 1.0
+        mapping_matrix[self.glove_name_index_map["G_PinkieRingAb"]][self.hand_name_index_map["LF4"]] = -1.0
+        mapping_matrix[self.glove_name_index_map["G_PalmArch"]][self.hand_name_index_map["LF5"]] = 1.0
+        
+        mapping_matrix[self.glove_name_index_map["G_WristPitch"]][self.hand_name_index_map["WR1"]] = 1.0
+        mapping_matrix[self.glove_name_index_map["G_WristYaw"]][self.hand_name_index_map["WR2"]] = 1.0
+        
+        mapping_matrix[self.glove_name_index_map["G_ThumbIJ"]][self.hand_name_index_map["TH1"]] = 1.0
+        
+        #mapping_matrix[self.glove_name_index_map["G_ThumbAb"]][self.hand_name_index_map["TH4"]] = 1.0
+        #mapping_matrix[self.glove_name_index_map["G_ThumbRotate"]][self.hand_name_index_map["TH5"]] = 1.0
+        #mapping_matrix[self.glove_name_index_map["G_ThumbMPJ"]][self.hand_name_index_map["TH2"]] = 1.0
+        
+        
+        #compute the best mapping for the thumb except th1
+        thumb_mapping = self.minimize()
+        
+        #fill the matrix with the thumb values computed with the simplex
+        for glove_name in self.thumb_glove.keys():
+            for hand_name in self.thumb_hand.keys():
+                #indexes in the computed thumb mapping matrix
+                tmp_index_glove = self.thumb_glove[glove_name]
+                tmp_index_hand = self.thumb_hand[hand_name]
+                
+                #retrieve the mapping value for those sensors
+                mapping_value = thumb_mapping[tmp_index_glove][tmp_index_hand]
+                
+                #indexes for the whole mapping matrix
+                final_index_glove = self.glove_name_index_map[glove_name]
+                final_index_hand = self.hand_name_index_map[hand_name]
+                
+                #update matrix
+                mapping_matrix[final_index_glove][final_index_hand] = mapping_value
+               #write the matrix to a file    
+        file = open(output_path, "w")
+        for line in mapping_matrix:
+            for col in line:
+                file.write(" "+str(col) )
+            file.write("\n")
+            
+        file.close()
+
+    def record(self, config):
+        for i in range(0, 2):
+            raw_input(str(i) + ": " + config.description)
+            vector_data = [0] * len(self.thumb_glove)
+            for sensor_name in self.thumb_glove.keys():
+                data = self.cyberglove.read_calibrated_average_value(sensor_name)
+                vector_data[self.thumb_glove[sensor_name]] = data
+            config.glove_data.append(vector_data)
+            
+        if(self.verbose == 1):
+            print "read values:" 
+            print config.glove_data
+                
+
+##############
+#    MAIN    #
+##############
+def main():
+    cyber_mapper = MappingMinimizer()
+    
+    for config in cyber_mapper.configurations:
+        cyber_mapper.record(config)
+    
+    cyber_mapper.write_full_mapping()
+    
+    return 0
+
+
+# start the script
+if __name__ == "__main__":
+    main()
\ No newline at end of file

=== added directory 'shadow_robot/cyberglove/src'
=== added file 'shadow_robot/cyberglove/src/cyberglove_node.cpp'
--- shadow_robot/cyberglove/src/cyberglove_node.cpp	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/src/cyberglove_node.cpp	2010-11-03 16:17:45 +0000
@@ -0,0 +1,53 @@
+/**
+ * @file   cyberglove_node.cpp
+ * @author Ugo Cupcic <[e-mail]>
+ * @date   Thu Apr 22 10:21:50 2010
+ * 
+ * @brief  The cyberglove node publishes data collected from a
+ * Cyberglove.
+ * 
+ * 
+ */
+
+#include <ros/ros.h>
+#include <time.h>
+#include "cyberglove/cyberglove_publisher.h"
+#include "cyberglove/cyberglove_service.h"
+#include "cyberglove/Start.h"
+#include <boost/smart_ptr.hpp>
+using namespace cyberglove_publisher;
+using namespace cyberglove_service;
+
+
+
+/////////////////////////////////
+//           MAIN              //
+/////////////////////////////////
+
+
+/** 
+ *  Start the cyberglove publisher.
+ *
+ * @param argc 
+ * @param argv 
+ * 
+ * @return -1 if error (e.g. no glove found)
+ */
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "cyberglove_publisher");
+  //NodeHandle n;
+  boost::shared_ptr<CyberglovePublisher> cyberglove_pub(new CyberglovePublisher());
+  
+  CybergloveService service(cyberglove_pub);  
+
+  while( ros::ok() )
+    {
+      if(cyberglove_pub->isPublishing()){
+        cyberglove_pub->publish();
+        }
+      //else{ros::spinOnce();sleep(100);}
+    }
+
+  return 0;
+}

=== added file 'shadow_robot/cyberglove/src/cyberglove_publisher.cpp'
--- shadow_robot/cyberglove/src/cyberglove_publisher.cpp	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/src/cyberglove_publisher.cpp	2010-11-03 16:17:45 +0000
@@ -0,0 +1,222 @@
+/**
+* @file   shadowhand_publisher.cpp
+* @author Ugo Cupcic <[e-mail]>
+* @date   Thu Mar 25 15:36:41 2010
+*
+* @brief The goal of this ROS publisher is to publish relevant data
+* concerning the hand at a regular time interval.
+* Those data are (not exhaustive): positions, targets, temperatures,
+* currents, forces, error flags, ...
+*
+*
+*/
+
+//ROS include
+#include <ros/ros.h>
+
+//generic C/C++ include
+#include <string>
+#include <sstream>
+
+#include "cyberglove/serial_glove.h"
+#include "cyberglove/cyberglove_publisher.h"
+
+using namespace ros;
+using namespace xml_calibration_parser;
+
+namespace cyberglove_publisher{
+
+  /////////////////////////////////
+  //    CONSTRUCTOR/DESTRUCTOR   //
+  /////////////////////////////////
+
+  CyberglovePublisher::CyberglovePublisher()
+    : n_tilde("~"), publish_rate(0.0), path_to_glove("/dev/ttyS0"), publishing(true)
+  {
+
+    std::string path_to_calibration;
+    n_tilde.param("path_to_calibration", path_to_calibration, std::string("/etc/robot/calibration.d/cyberglove.cal"));
+    ROS_INFO("Calibration file loaded for the Cyberglove: %s", path_to_calibration.c_str());
+
+    initialize_calibration(path_to_calibration);
+
+    // set publish frequency
+    double publish_freq;
+    n_tilde.param("publish_frequency", publish_freq, 20.0);
+    publish_rate = Rate(publish_freq);
+
+    // set path to glove
+    n_tilde.param("path_to_glove", path_to_glove, std::string("/dev/ttyS0"));
+    ROS_INFO("Opening glove on port: %s", path_to_glove.c_str());
+
+    int error = setup_glove( path_to_glove.c_str() );
+    //sleep 1s to be sure the glove had enough time to start 
+    sleep(1);
+
+    if( error != 0 )
+      ROS_ERROR("Couldn't initialize the glove, is the glove plugged in?");
+    else
+      {
+	//publishes calibrated JointState messages
+	std::string prefix;
+	std::string searched_param;
+	n_tilde.searchParam("cyberglove_prefix", searched_param);
+	n_tilde.param(searched_param, prefix, std::string());
+	std::string full_topic = prefix + "/calibrated/joint_states";
+	cyberglove_pub = n_tilde.advertise<sensor_msgs::JointState>(full_topic, 2);
+
+	//publishes raw JointState messages
+	n_tilde.searchParam("cyberglove_prefix", searched_param);
+	n_tilde.param(searched_param, prefix, std::string());
+	full_topic = prefix + "/raw/joint_states";
+	cyberglove_raw_pub = n_tilde.advertise<sensor_msgs::JointState>(full_topic, 2);
+      }
+
+    //initialises joint names (the order is important)
+    jointstate_msg.name.push_back("G_ThumbRotate");
+    jointstate_msg.name.push_back("G_ThumbMPJ");
+    jointstate_msg.name.push_back("G_ThumbIJ");
+    jointstate_msg.name.push_back("G_ThumbAb");
+    jointstate_msg.name.push_back("G_IndexMPJ");
+    jointstate_msg.name.push_back("G_IndexPIJ");
+    jointstate_msg.name.push_back("G_IndexDIJ");
+    jointstate_msg.name.push_back("G_MiddleMPJ");
+    jointstate_msg.name.push_back("G_MiddlePIJ");
+    jointstate_msg.name.push_back("G_MiddleDIJ");
+    jointstate_msg.name.push_back("G_MiddleIndexAb");
+    jointstate_msg.name.push_back("G_RingMPJ");
+    jointstate_msg.name.push_back("G_RingPIJ");
+    jointstate_msg.name.push_back("G_RingDIJ");
+    jointstate_msg.name.push_back("G_RingMiddleAb");
+    jointstate_msg.name.push_back("G_PinkieMPJ");
+    jointstate_msg.name.push_back("G_PinkiePIJ");
+    jointstate_msg.name.push_back("G_PinkieDIJ");
+    jointstate_msg.name.push_back("G_PinkieRingAb");
+    jointstate_msg.name.push_back("G_PalmArch");
+    jointstate_msg.name.push_back("G_WristPitch");
+    jointstate_msg.name.push_back("G_WristYaw");
+
+    jointstate_raw_msg.name = jointstate_msg.name;
+  }
+
+  CyberglovePublisher::~CyberglovePublisher()
+  {
+  }
+  
+  void CyberglovePublisher::initialize_calibration(std::string path_to_calibration)
+  {
+    calibration_parser = XmlCalibrationParser(path_to_calibration);
+  }
+
+  bool CyberglovePublisher::isPublishing()
+  {
+    if (publishing)
+      {
+	return true;
+      }
+    else
+      {
+	//check if the value was read
+	if( checkGloveState() )
+	  {
+	    ROS_INFO("The glove button was switched on, starting to publish data.");
+	    publishing = true;
+	  }
+	
+	ros::spinOnce();
+	publish_rate.sleep();
+	return false;
+      }
+  }
+
+  void CyberglovePublisher::setPublishing(bool value){
+    publishing = value;
+  }
+
+  /////////////////////////////////
+  //       PUBLISH METHOD        //
+  /////////////////////////////////
+  void CyberglovePublisher::publish()
+  {
+    //if (!publishing) return;
+    //read the state of the glove button
+    if( !checkGloveState() )
+      {
+	publishing = false;
+	ROS_INFO("The glove button is off, no data will be read / sent");
+	ros::spinOnce();
+	publish_rate.sleep();
+	return;
+      }
+
+    //read data from the glove
+    try
+      {
+	glovePositions = glove_get_values();
+      }
+    catch(int e)
+      {
+	ROS_ERROR("The glove values can't be read");
+	ros::spinOnce();
+	publish_rate.sleep();
+	return;
+      }
+
+    //reset the messages
+    jointstate_msg.effort.clear();
+    jointstate_msg.position.clear();
+    jointstate_msg.velocity.clear();
+    jointstate_raw_msg.effort.clear();
+    jointstate_raw_msg.position.clear();
+    jointstate_raw_msg.velocity.clear();
+
+    //fill the joint_state msg with the glove data
+    for(unsigned int i=0; i<GLOVE_SIZE; ++i)
+      {
+	jointstate_raw_msg.position.push_back(glovePositions[i]);
+	add_jointstate(glovePositions[i], jointstate_msg.name[i]);
+      }
+    //publish the msgs
+    cyberglove_pub.publish(jointstate_msg);
+    cyberglove_raw_pub.publish(jointstate_raw_msg);
+
+    ros::spinOnce();
+    publish_rate.sleep();
+  }
+
+  void CyberglovePublisher::add_jointstate(float position, std::string joint_name)
+  {
+    //can't read the effort from the glove
+    jointstate_msg.effort.push_back(0.0);
+
+    //get the calibration value
+    float calibration_value = calibration_parser.get_calibration_value(position, joint_name);
+    std::cout << calibration_value << std::endl;
+    //publish the glove position
+    jointstate_msg.position.push_back(calibration_value);
+    //set velocity to 0. 
+    //@TODO : send the correct velocity ?
+    jointstate_msg.velocity.push_back(0.0);
+  }
+
+  bool CyberglovePublisher::checkGloveState()
+  {
+    int gloveButtonState = -1;
+    gloveButtonState =  read_button_value();
+    
+    //check if the value was read
+    switch( gloveButtonState)
+      {
+      case 0:
+	return false;
+      case 1:
+	return true;
+      default:
+	ROS_ERROR("The glove button state value couldn't be read.");
+	return false;
+      }
+  }
+
+}// end namespace
+
+

=== added file 'shadow_robot/cyberglove/src/cyberglove_service.cpp'
--- shadow_robot/cyberglove/src/cyberglove_service.cpp	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/src/cyberglove_service.cpp	2010-11-03 16:17:45 +0000
@@ -0,0 +1,40 @@
+#include <ros/ros.h>
+
+#include <string>
+#include <sstream>
+
+#include "cyberglove/serial_glove.h"
+#include "cyberglove/cyberglove_publisher.h"
+#include "cyberglove/cyberglove_service.h"
+
+using namespace ros;
+
+namespace cyberglove_service{
+
+CybergloveService::CybergloveService(boost::shared_ptr<cyberglove_publisher::CyberglovePublisher> publish)
+ :  node("~"), pub(publish)
+{
+  service_start = node.advertiseService("start",&CybergloveService::start,this);
+  service_calibration = node.advertiseService("calibration", &CybergloveService::calibration, this);
+  ROS_INFO("Listening for service");
+}
+
+bool CybergloveService::start(cyberglove::Start::Request &req, cyberglove::Start::Response &res){
+    if(req.start){
+        ROS_INFO("Glove is now publishing");
+        this->pub->setPublishing(true);    
+    }
+    else{
+        ROS_INFO("Glove has stopped publishing");
+        this->pub->setPublishing(false);
+    }
+    //this->pub->cyberglove_pub.shutdown();
+    return true;
+}
+bool CybergloveService::calibration(cyberglove::Calibration::Request &req, cyberglove::Calibration::Response &res){
+    this->pub->setPublishing(false);
+    this->pub->initialize_calibration(req.path);
+    this->pub->setPublishing(true); 
+    return true;
+}
+}

=== added file 'shadow_robot/cyberglove/src/serial_glove.c'
--- shadow_robot/cyberglove/src/serial_glove.c	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/src/serial_glove.c	2010-11-03 16:17:45 +0000
@@ -0,0 +1,236 @@
+
+/** 
+@file
+  This program talks to a cyberglove on the serial port
+
+  The only purpose is to continually sample the glove and to store the values in the
+  array \c glove_positions
+
+  The program provides the function \fn void* read_glove_sensors(void)
+  that may be used together with a thread
+
+  serial_glove.c
+   (C) Shadow Robot Company 2006
+   GPL
+*/
+
+//! sudo cc -c -I/usr/realtime/include/ serial_glove.c -o serial_glove.o
+
+
+
+#include <stdio.h>
+#include <error.h>
+#include <stdio.h>
+#include <unistd.h>
+
+#include <termios.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+#include <errno.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <signal.h>
+#include <string.h>
+#include <pwd.h>
+#include <sys/time.h>
+
+#include "cyberglove/serial_glove.h"
+
+int VERBOSE=0;
+
+FILE * serial;
+
+static float values[GLOVE_SIZE];
+
+ 
+float glove_positions[GLOVE_SIZE];
+
+int gloveButtonValue=0;
+
+int glove_start_reads=0, glove_reads=0;
+
+char glove_message[100];
+
+
+struct termios termios_save;
+static int serial_port_fd = -1;
+
+void open_board(char *port) {
+  struct termios termios_p;
+
+  serial_port_fd = open(port, O_RDWR | O_NOCTTY); //will return a file descriptor based on an actual file
+
+  if (serial_port_fd < 0) error(1, errno, "can't open serial port! maybe run as root...");
+
+  //! get attributes associated with the serial port
+  tcgetattr(serial_port_fd, &termios_p);
+
+  //changes in termios_p won't affect termios_save behond this line...
+  //memcpy(&termios_save, &termios_p, sizeof(struct termios)); //not used
+
+  termios_p.c_cflag = B115200;
+  termios_p.c_cflag |= CS8;
+  termios_p.c_cflag |= CREAD;
+  termios_p.c_iflag = IGNPAR | IGNBRK;
+  termios_p.c_cflag |= CLOCAL;
+  termios_p.c_oflag = 0;
+  termios_p.c_lflag = 0; // NOT in canonical mode
+  termios_p.c_cc[VTIME] = 1; //5; // half a second timeout
+  termios_p.c_cc[VMIN] = 0;  // select timeout mode
+
+
+
+  memcpy(&termios_save, &termios_p, sizeof(struct termios));
+  
+  //! trying the following lines to restart serial port, see read_stepping() function
+  tcsetattr(serial_port_fd, TCSANOW, &termios_p);
+  tcflush(serial_port_fd, TCOFLUSH);  
+  tcflush(serial_port_fd, TCIFLUSH);
+
+  //  unsigned char out_data[2]={0xff, 0};
+  //  write(serial_port_fd, out_data, 1);
+
+  sleep(1);
+}
+
+
+
+
+
+/**
+called by read_values
+*b is length GLOVE_SIZE + 2 because the first two characters returned are G and ' '
+*/
+int read_stepping(int fd, unsigned char *b, int n) {
+  int i=0;
+  //fd_set fdset;
+  int res=0;
+  int remain;
+  //int counter=0;
+  remain = n;
+
+  do {
+    res=read(fd, &b[i], remain);
+    if (res>0) { 
+      remain -= res;
+      i += res;
+    };
+
+    if (res<0) { error(1, errno, "readg!"); };
+    if (res==0) {
+      strcpy(glove_message, "(glove read failed, is it connected?)");
+      //counter++; error(0,0,"returned no data");
+      //HACK without this the glove will sometimes freeze
+      tcsetattr(serial_port_fd, TCSANOW, &termios_save);
+      return 1;
+    };
+
+    if (remain) usleep (remain * 500); //wait for more characters to appear on the port
+  } while ( /* (counter<10) && */ remain);
+
+  return (remain!=0);
+}
+
+void  writeg(int fd, char *b, int n) {
+  int i;
+  for (i=0;i<n;i++) {
+    write(fd, &b[i], 1);
+  };
+  //  usleep(10*n);
+}
+
+//read the position values from the glove
+void read_values(float *dest) {
+ restart:
+  glove_start_reads++;
+  tcflush(serial_port_fd, TCIFLUSH);
+  tcflush(serial_port_fd, TCOFLUSH);
+  writeg(serial_port_fd, "G", 1);
+  int i;
+  unsigned char ch[GLOVE_SIZE+2]={0}; //assigns 0 to the first char
+
+  usleep(GLOVE_SIZE*10);
+  //  int res=read(serial_port_fd, &ch, GLOVE_SIZE+2);
+  //  if (res<0) error(1,errno, "reading from serial port");
+  if (read_stepping(serial_port_fd, &ch, GLOVE_SIZE+2)) {
+    //error(0,0,"serial port timeout");
+    goto restart;
+  };
+  //  error(0,0,"res=%d, %02x %02x %02x %02x %02x %02x", res, ch[0],ch[1],ch[2],ch[3],ch[4],ch[5]);
+
+  if (ch[0]!='G') {
+    //error(0,0,"NO G");
+    //    log_message("%s: Failure reading glove: No G", timestamp());
+    goto restart; 
+  };
+
+  //! if any of the values are zero restart read as not considered reliable
+  for (i=0; i<GLOVE_SIZE; i++) {
+    if (ch[i+1]==0) { 
+      //error(0,0,"Restart %d!", i);
+      goto restart;
+    };
+  };
+
+  for (i=0; i<GLOVE_SIZE; i++) {
+    dest[i] = (ch[i+1]-1.0)/254.0;
+  }
+
+
+  strcpy(glove_message, "");  
+  glove_reads++;
+}
+
+//read the button value from the glove
+int read_button_value() {
+ restartButtonRead:
+  tcflush(serial_port_fd, TCIFLUSH);
+  tcflush(serial_port_fd, TCOFLUSH);
+  writeg(serial_port_fd, "?W", 2);
+  unsigned char ch[3]={0};    //assigns 0 to the first char
+
+  //TODO : this should be reduced ? 
+  usleep(GLOVE_SIZE*10);
+
+  if (read_stepping(serial_port_fd, &ch, 3)) {
+    goto restartButtonRead;
+  };
+
+  return ch[2];
+}
+
+
+int setup_glove(const char* path_to_glove)
+ {
+  open_board(path_to_glove);
+
+  int i;
+  for (i=0;i<GLOVE_SIZE;i++) 
+    {
+      values[i]=0.0;
+      glove_positions[i] = 0.0;
+    }
+  
+  return 0;
+ }
+
+
+//at end of file
+//static void compute_setpoints(void);
+ 
+
+
+//! sample the glove values - need to call setup_glove first
+float* glove_get_values() {
+  read_values(values);
+
+  int i;
+  for (i=0; i<GLOVE_SIZE; i++)
+    glove_positions[i] = values[i];
+
+  return glove_positions;
+}
+
+

=== added file 'shadow_robot/cyberglove/src/xml_calibration_parser.cpp'
--- shadow_robot/cyberglove/src/xml_calibration_parser.cpp	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/src/xml_calibration_parser.cpp	2010-11-03 16:17:45 +0000
@@ -0,0 +1,308 @@
+/**
+ * @file   xml_calibration_parser.cpp
+ * @author Ugo Cupcic <[e-mail]>
+ * @date   Tue Apr 27 11:30:41 2010
+ * 
+ * @brief  This is a simple xml parser, used to parse the calibration
+ * file for the cyberglove. 
+ * A Calibration file must have this format:
+ * <Cyberglove_calibration>
+ *   <Joint name="G_ThumbRotate">
+ *     <calib raw_value="0.0" calibrated_value="-60"/>
+ *     <calib raw_value="0.42" calibrated_value="100"/>
+ *   </Joint>
+ * </Cyberglove_calibration>
+ * 
+ * The calibration will be used by the glove node to stream coherent
+ * angles (and not an uncalibrated sensor value between 0 and 1).
+ *
+ * 
+ */
+
+//ROS include
+#include <ros/ros.h>
+
+#include "cyberglove/xml_calibration_parser.h"
+
+#include <stdio.h>
+
+namespace xml_calibration_parser{
+
+  const float XmlCalibrationParser::lookup_precision = 1000.0f;
+  const float XmlCalibrationParser::lookup_offset = 1.0f;
+
+  /** 
+   * The constructor: parses the given file and stores the calibration
+   * in the vector std::vector<JointCalibration> jointsCalibrations.
+   * 
+   * @param path_to_calibration the path to the xml calibration
+   * file. Please note that it is best to use ros parameters to set
+   * the path in your code calling this constructor.
+   */
+  XmlCalibrationParser::XmlCalibrationParser(std::string path_to_calibration)
+  {
+    TiXmlDocument doc(path_to_calibration.c_str());
+    bool loadOkay = doc.LoadFile();
+    if (loadOkay)
+      {
+	ROS_DEBUG("loading calibration %s", path_to_calibration.c_str());
+	parse_calibration_file( doc.RootElement() ); 
+
+	build_calibration_table();
+      }
+    else
+      {
+	ROS_ERROR("Failed to load file \"%s\"", path_to_calibration.c_str());
+      }
+  }
+  
+  /** 
+   * Parses the calibration file and retreive the full calibration for
+   * the cyberglove.
+   * 
+   * @param pParent The parent node (Cyberglove_calibration)
+   * containing all the xml tree. 
+   */
+  void XmlCalibrationParser::parse_calibration_file( TiXmlNode* pParent )
+  {
+    if ( !pParent ) return;
+    
+    TiXmlElement* child = pParent->FirstChildElement("Joint");
+
+    //no Joint elements => error
+    if( !child )
+      {
+	ROS_ERROR( "The calibration file seems to be broken: there's no Joint elements." );
+	return;
+      }
+						  
+    bool has_sibling = true;
+    while( has_sibling )
+      {
+	// a Joint element was found
+	XmlCalibrationParser::JointCalibration joint_calib;
+	joint_calib.name = child->Attribute("name");
+
+	joint_calib.calibrations = parse_joint_attributes(child);
+
+	jointsCalibrations.push_back(joint_calib);
+
+	//get the next Joint element
+	child = child->NextSiblingElement("Joint");
+	//no more Joint elements => stop
+	if( !child )
+	    has_sibling = false;
+      }
+  }
+
+  /** 
+   * Parses the Joint element of the calibration file.
+   * 
+   * @param pParent a Joint element
+   * 
+   * @return the calibration values for this Joint.
+   */
+  std::vector<XmlCalibrationParser::Calibration> 
+  XmlCalibrationParser::parse_joint_attributes( TiXmlNode* pParent )
+  {
+    std::vector<XmlCalibrationParser::Calibration> calibrations;
+    
+    TiXmlElement* child = pParent->FirstChildElement("calib");
+
+    //no Joint elements => error
+    if( !child )
+      {
+	ROS_ERROR( "The calibration file seems to be broken: there's no calibration elements." );
+	return calibrations;
+      }
+    bool has_sibling = true;
+
+    while( has_sibling )
+      {
+	// a Joint element was found
+	XmlCalibrationParser::Calibration calib;
+	float fval;
+
+	// get the raw-value
+	if( child->QueryFloatAttribute("raw_value", &fval) == TIXML_SUCCESS )
+	  calib.raw_value = fval;
+	else
+	  ROS_ERROR("The calibration file seems to be broken: there's no raw_value attribute.");
+
+	//get the calibrated-value
+	if( child->QueryFloatAttribute("calibrated_value", &fval) == TIXML_SUCCESS )
+	  calib.calibrated_value = fval;
+	else
+	  ROS_ERROR("The calibration file seems to be broken: there's no calibrated_value attribute.");
+
+	//add the calibration to the vector
+	calibrations.push_back( calib );	
+
+	//get the next Joint element
+	child = child->NextSiblingElement("calib");
+	//no more Joint elements => stop
+	if( !child )
+	    has_sibling = false;
+      }
+    
+    return calibrations;
+  }
+
+
+  /** 
+   * Transform the calibration values to a lookup table for fast
+   * processing of the calibration process. 
+   * NB: the lookup table ranges from 0 to +lookup_offset
+   * with a precision of 1/lookup_precision.
+   * 
+   */
+  int XmlCalibrationParser::build_calibration_table()
+  {
+    for (unsigned int index_calib = 0; index_calib < jointsCalibrations.size(); ++index_calib)
+    {
+      std::string name = jointsCalibrations[index_calib].name;      
+      std::cout << name << std::endl;
+
+      std::vector<Calibration> calib = jointsCalibrations[index_calib].calibrations;
+
+      std::vector<float> lookup_table((int)lookup_offset*(int)lookup_precision); 
+
+      if( calib.size() < 2 )
+	ROS_ERROR("Not enough points were defined to set up the calibration.");
+      
+      //order the calibration vector by ascending values of raw_value
+      //      ROS_ERROR("TODO: calibration vector not ordered yet");
+      
+      std::cout << "lookup table : ";
+      
+      //setup the lookup table
+      for( unsigned int index_lookup = 0; 
+	   index_lookup < lookup_table.size() ;
+	   ++ index_lookup )
+	{
+	  float value = compute_lookup_value(index_lookup, calib);
+	  std::cout << index_lookup<<":"<<value << " ";
+	  lookup_table[index_lookup] = value;
+	}
+      
+      std::cout << std::endl;
+
+      //add the values to the map
+      joints_calibrations_map[name] = lookup_table;
+      //joints_calibrations_map.insert(std::pair <std::string, std::vector<float> >(name, lookup_table));
+    }
+    
+    return 0;
+  }
+
+  /** 
+   * return the value to store in the lookup table for a given index,
+   * using the calibration information.
+   * 
+   * @param index the index for which we compute the value
+   * 
+   * @param calib the vector containing the calibration informations
+   * (a list of raw_value <=> calibrated_value)
+   *
+   * @return the value to be stored in the lookup table
+   */
+  float XmlCalibrationParser::compute_lookup_value(int index, std::vector<XmlCalibrationParser::Calibration> calib)
+  {
+    float raw_pos = return_raw_position_from_index(index);
+
+    if(calib.size() == 2)
+      return linear_interpolate( raw_pos,
+				 calib[0].raw_value, 
+				 calib[0].calibrated_value, 
+				 calib[1].raw_value, 
+				 calib[1].calibrated_value
+			     );
+
+
+    for( unsigned int index_calib = 0; index_calib < calib.size() - 1; 
+	 ++index_calib)
+      {
+	if(calib[index_calib].raw_value > raw_pos)
+	  {
+	    return linear_interpolate( raw_pos,
+				       calib[index_calib].raw_value, 
+				       calib[index_calib].calibrated_value, 
+				       calib[index_calib+1].raw_value, 
+				       calib[index_calib+1].calibrated_value
+				     );
+	  }
+      }
+    
+    //bigger than last calibrated value => extrapolate the value from
+    //last 2 values
+    //TODO: ca marche la formule si on est en dehors des points ? oui
+    return linear_interpolate( raw_pos,
+			       calib[calib.size()-1].raw_value, 
+			       calib[calib.size()-1].calibrated_value, 
+			       calib[calib.size()].raw_value, 
+			       calib[calib.size()].calibrated_value
+			     );
+
+  }
+	
+  float XmlCalibrationParser::get_calibration_value(float position, std::string joint_name)
+  {
+    mapType::iterator iter = joints_calibrations_map.find(joint_name);
+ 
+    if( joint_name.compare("G_ThumbAb"))
+      printf("toto");
+
+    if( iter != joints_calibrations_map.end() )
+      {
+	//reads from the lookup table
+	int index = return_index_from_raw_position(position);
+	std::cout << index << std::endl;
+	return iter->second[index];
+      }
+    else
+      {
+	ROS_ERROR("%s is not calibrated", joint_name.c_str());
+	return 1.0f;
+      }
+  }
+    
+  float XmlCalibrationParser::linear_interpolate( float x , 
+						  float x0, float y0, 
+						  float x1, float y1 )
+  {
+
+    //TODO ca marche qd c'est decroissant ca? oui
+    float y = 0.0f;
+    if( x1 - x0 == 0.0f )
+      {
+	ROS_WARN("Bad calibration: raw_calib[1] = raw_calib[0]");
+	return 0.0f;
+      }
+
+    y = y0 + (x-x0)* ((y1-y0)/(x1-x0));
+    return y;
+  }
+
+
+  int XmlCalibrationParser::return_index_from_raw_position(float raw_position)
+  {
+    if (raw_position < 0.0f)
+      return 0;
+    if(raw_position > 1.0f)
+      return lookup_precision;
+    return round(raw_position * lookup_precision);
+  };
+
+  int XmlCalibrationParser::round(float number)
+  {
+    //we only have positive numbers
+    return (int)floor(number + 0.5);
+    //return number < 0.0 ? ceil(number - 0.5) : floor(number + 0.5);
+  }
+
+
+  std::vector<XmlCalibrationParser::JointCalibration> XmlCalibrationParser::getJointsCalibrations()
+  {
+    return jointsCalibrations;
+  }
+}//end namespace

=== added directory 'shadow_robot/cyberglove/srv'
=== added file 'shadow_robot/cyberglove/srv/Calibration.srv'
--- shadow_robot/cyberglove/srv/Calibration.srv	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/srv/Calibration.srv	2010-11-03 16:17:45 +0000
@@ -0,0 +1,3 @@
+string path
+---
+bool state

=== added file 'shadow_robot/cyberglove/srv/Start.srv'
--- shadow_robot/cyberglove/srv/Start.srv	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/srv/Start.srv	2010-11-03 16:17:45 +0000
@@ -0,0 +1,3 @@
+bool start
+---
+bool state

=== added directory 'shadow_robot/cyberglove/test'
=== added file 'shadow_robot/cyberglove/test/cyberglove_test.cal'
--- shadow_robot/cyberglove/test/cyberglove_test.cal	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/test/cyberglove_test.cal	2010-11-03 16:17:45 +0000
@@ -0,0 +1,19 @@
+<?xml version="1.0" ?>
+<Cyberglove_calibration>
+<Joint name="test1">
+<calib raw_value="0.0 " calibrated_value=" 0"/>
+<calib raw_value="0.1 " calibrated_value=" 100"/>
+</Joint>
+<Joint name="test2">
+<calib raw_value="0.0 " calibrated_value=" 10"/>
+<calib raw_value="0.1 " calibrated_value=" 60"/>
+</Joint>
+<Joint name="test3">
+<calib raw_value="0.1 " calibrated_value=" 10"/>
+<calib raw_value="0.2 " calibrated_value=" 60"/>
+</Joint>
+<Joint name="test4">
+<calib raw_value="0.1 " calibrated_value=" 10"/>
+<calib raw_value="0.0 " calibrated_value=" 60"/>
+</Joint>
+</Cyberglove_calibration>

=== added file 'shadow_robot/cyberglove/test/test_calibration.cpp'
--- shadow_robot/cyberglove/test/test_calibration.cpp	1970-01-01 00:00:00 +0000
+++ shadow_robot/cyberglove/test/test_calibration.cpp	2010-11-03 16:17:45 +0000
@@ -0,0 +1,136 @@
+
+
+#include <ros/ros.h>
+
+#include <math.h>
+
+#include <cyberglove/xml_calibration_parser.h>
+#include <gtest/gtest.h>
+
+#define TEST_EXPRESSION(a) EXPECT_EQ((a), meval::EvaluateMathExpression(#a))
+
+using namespace ros;
+using namespace xml_calibration_parser;
+
+std::string path_to_calibration = "/home/ugo/Projects/cyberglove/cyberglove_ROS_interface/cyberglove/test/cyberglove_test.cal";
+
+float epsilon = 0.01f;
+
+XmlCalibrationParser calib_parser;
+
+TEST(LookupTable, testSimple)
+{
+  float valtmp;
+  valtmp = calib_parser.get_calibration_value(0.05f,"test1" );
+  EXPECT_TRUE(fabs( valtmp - 50.0f ) < epsilon)
+    << "Expected value : 50 "
+    << "Received value : "<< valtmp;
+
+  valtmp = calib_parser.get_calibration_value(0.1f,"test1" );
+  EXPECT_TRUE(fabs( valtmp - 100.0f ) < epsilon)
+    << "Expected value : 100 " 
+    << "Received value : "<< valtmp;
+
+  valtmp = calib_parser.get_calibration_value(0.0f,"test1" );
+  EXPECT_TRUE(fabs( valtmp - 0.0f ) < epsilon)
+    << "Expected value : 0 " 
+    << "Received value : "<< valtmp;
+
+  valtmp = calib_parser.get_calibration_value(0.2f,"test1" );
+  EXPECT_TRUE(fabs( valtmp - 200.0f ) < epsilon)
+    << "Expected value : 200 " 
+    << "Received value : "<< valtmp;
+}
+
+TEST(LookupTable, integrity)
+{
+  std::vector<XmlCalibrationParser::JointCalibration> myCalib = calib_parser.getJointsCalibrations();
+  
+ EXPECT_EQ(4, myCalib.size());
+ for(unsigned int i = 0; i<myCalib.size() ; ++i)
+   {
+     EXPECT_EQ(2, myCalib[i].calibrations.size());
+   }
+}
+
+TEST(LookupTable, testCalibNotStartingAtZero)
+{
+  float valtmp;
+  valtmp = calib_parser.get_calibration_value(0.05f,"test2" );
+  EXPECT_TRUE(fabs( valtmp - 35.0f ) < epsilon) 
+    << "Expected value : 35 " 
+    << "Received value : "<< valtmp;
+
+  valtmp = calib_parser.get_calibration_value(0.1f,"test2" );
+  EXPECT_TRUE(fabs( valtmp - 60.0f ) < epsilon)
+    << "Expected value : 60 " 
+    << "Received value : "<< valtmp;
+
+  valtmp = calib_parser.get_calibration_value(0.0f,"test2" );
+  EXPECT_TRUE(fabs( valtmp - 10.0f ) < epsilon)
+    << "Expected value : 10 " 
+    << "Received value : "<< valtmp;
+
+  valtmp = calib_parser.get_calibration_value(0.2f,"test2" );
+  EXPECT_TRUE(fabs(valtmp - 110.0f ) < epsilon)
+    << "Expected value : 110 " 
+    << "Received value : "<< valtmp;
+}
+
+TEST(LookupTable, testRawNotStartingAtZero)
+{
+  float valtmp;
+  valtmp = calib_parser.get_calibration_value(0.15f,"test3" );
+  EXPECT_TRUE(fabs( valtmp - 35.0f ) < epsilon) 
+    << "Expected value : 35 " 
+    << "Received value : "<< valtmp;
+
+  valtmp = calib_parser.get_calibration_value(0.2f,"test3" );
+  EXPECT_TRUE(fabs( valtmp - 60.0f ) < epsilon)
+    << "Expected value : 60 " 
+    << "Received value : "<< valtmp;
+
+  valtmp = calib_parser.get_calibration_value(0.1f,"test3" );
+  EXPECT_TRUE(fabs( valtmp - 10.0f ) < epsilon)
+    << "Expected value : 10 " 
+    << "Received value : "<< valtmp;
+
+  valtmp = calib_parser.get_calibration_value(0.3f,"test3" );
+  EXPECT_TRUE(fabs(valtmp - 110.0f ) < epsilon)
+    << "Expected value : 110 " 
+    << "Received value : "<< valtmp;
+}
+
+TEST(LookupTable, tableNotOrdered)
+{
+  float valtmp;
+  valtmp = calib_parser.get_calibration_value(0.05f,"test4" );
+  EXPECT_TRUE(fabs( valtmp - 35.0f ) < epsilon)
+    << "Expected value : 35 " 
+    << "Received value : "<< valtmp;
+
+  valtmp = calib_parser.get_calibration_value(0.1f,"test4" );
+  EXPECT_TRUE(fabs( valtmp - 10.0f ) < epsilon)
+    << "Expected value : 10 " 
+    << "Received value : "<< valtmp;
+
+  valtmp = calib_parser.get_calibration_value(0.0f,"test4" );
+  EXPECT_TRUE(fabs( valtmp - 60.0f ) < epsilon)
+    << "Expected value : 60 " 
+    << "Received value : "<< valtmp;
+
+  valtmp = calib_parser.get_calibration_value(0.2f,"test4" );
+  EXPECT_TRUE(fabs( valtmp + 40.0f) < epsilon)
+    << "Expected value : -40 " 
+    << "Received value : "<< valtmp;
+}
+
+// Run all the tests that were declared with TEST()
+int main(int argc, char **argv){
+
+  calib_parser = XmlCalibrationParser(path_to_calibration);
+
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+
+}

=== added directory 'shadow_robot/dataglove'
=== added file 'shadow_robot/dataglove/CMakeLists.txt'
--- shadow_robot/dataglove/CMakeLists.txt	1970-01-01 00:00:00 +0000
+++ shadow_robot/dataglove/CMakeLists.txt	2010-11-03 16:17:45 +0000
@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Append to CPACK_SOURCE_IGNORE_FILES a semicolon-separated list of
+# directories (or patterns, but directories should suffice) that should
+# be excluded from the distro.  This is not the place to put things that
+# should be ignored everywhere, like "build" directories; that happens in
+# rosbuild/rosbuild.cmake.  Here should be listed packages that aren't
+# ready for inclusion in a distro.
+#
+# This list is combined with the list in rosbuild/rosbuild.cmake.  Note
+# that CMake 2.6 may be required to ensure that the two lists are combined
+# properly.  CMake 2.4 seems to have unpredictable scoping rules for such
+# variables.
+#list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental)
+
+rosbuild_make_distribution(0.1.0)

=== added file 'shadow_robot/dataglove/Makefile'
--- shadow_robot/dataglove/Makefile	1970-01-01 00:00:00 +0000
+++ shadow_robot/dataglove/Makefile	2010-11-03 16:17:45 +0000
@@ -0,0 +1,1 @@
+include $(shell rospack find mk)/cmake_stack.mk
\ No newline at end of file

=== added directory 'shadow_robot/dataglove/dataglove_processing'
=== added file 'shadow_robot/dataglove/dataglove_processing/CMakeLists.txt'
--- shadow_robot/dataglove/dataglove_processing/CMakeLists.txt	1970-01-01 00:00:00 +0000
+++ shadow_robot/dataglove/dataglove_processing/CMakeLists.txt	2010-11-03 16:17:45 +0000
@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})
+
+#rosbuild_add_executable(optical_dataglove src/optical_dataglove.cpp src/optical_dataglove_node.cpp)
+rosbuild_add_executable(message_publisher src/three_dimensions src/two_dimensions.cpp src/reverse_kinematics.cpp src/database_mapping.cpp src/message_publisher.cpp src/optical_dataglove_node.cpp)
+

=== added file 'shadow_robot/dataglove/dataglove_processing/Makefile'
--- shadow_robot/dataglove/dataglove_processing/Makefile	1970-01-01 00:00:00 +0000
+++ shadow_robot/dataglove/dataglove_processing/Makefile	2010-11-03 16:17:45 +0000
@@ -0,0 +1,1 @@
+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file

=== added file 'shadow_robot/dataglove/dataglove_processing/dataglove-UML.png'
Binary files shadow_robot/dataglove/dataglove_processing/dataglove-UML.png	1970-01-01 00:00:00 +0000 and shadow_robot/dataglove/dataglove_processing/dataglove-UML.png	2010-11-03 16:17:45 +0000 differ
=== added directory 'shadow_robot/dataglove/dataglove_processing/include'
=== added directory 'shadow_robot/dataglove/dataglove_processing/include/optical_dataglove'
=== added file 'shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/data_analyser.h'
--- shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/data_analyser.h	1970-01-01 00:00:00 +0000
+++ shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/data_analyser.h	2010-11-03 16:17:45 +0000
@@ -0,0 +1,41 @@
+#ifndef DATA_ANALYSER_H_
+#define DATA_ANALYSER_H_
+
+#include "optical_dataglove/joint_data.h"
+#include <map>
+
+namespace opticaldataglove{
+
+/*
+ * Abstract class to define methods to make conversions between the raw source to the fingertips positions
+ * Key methods to implement in subclass are getFingerTipPositions and getHandModel, which is used to determine the distances between the human hand articulations
+ */
+class DataAnalyser
+{
+
+public:
+/*
+ * Constructor
+ */
+    DataAnalyser()
+    {
+    };
+/*
+ * Destructor
+ */
+    ~DataAnalyser()
+    {
+    };
+
+    virtual std::map<std::string, double> getFingerTipPositions()=0;
+    virtual std::map<std::string, double> getHandModel()=0;
+
+protected:
+    
+    std::map<std::string, double> fingerTipPositions;
+    std::map<std::string, double> handModel;
+    
+
+};
+}
+#endif //DATA_ANALYSER_H_

=== added file 'shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/database_mapping.h'
--- shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/database_mapping.h	1970-01-01 00:00:00 +0000
+++ shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/database_mapping.h	2010-11-03 16:17:45 +0000
@@ -0,0 +1,41 @@
+#ifndef DATABASEMAPPING_H_
+#define DATABASEMAPPING_H_
+
+#include "optical_dataglove/position_mapper.h"
+
+namespace opticaldataglove{
+
+/*
+ * Class used to perform the conversion between fingertips positions to joints values using a Database of known positions
+ */
+class DatabaseMapping : public PositionMapper
+{
+public :
+
+/*
+ * Constructor
+ * @param data_analyser : data analyser performing computing to get information from hand
+ */
+    DatabaseMapping(boost::shared_ptr<DataAnalyser> data_analyser);
+    
+/*
+ * Destructor
+ */
+    ~DatabaseMapping();
+
+/*
+ * Returns a map with the angles of that the hand should take
+ */
+    virtual std::map<std::string, JointData> getHandPositions();
+
+private :
+    
+/*
+ * Initializes the hand position
+ */
+   virtual void initializeHandPositions(); 
+
+};
+}
+
+#endif //#DATABASEMAPPING_H_

=== added file 'shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/hand_model.h'
--- shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/hand_model.h	1970-01-01 00:00:00 +0000
+++ shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/hand_model.h	2010-11-03 16:17:45 +0000
@@ -0,0 +1,52 @@
+#ifndef HAND_MODEL_H_
+#define HAND_MODEL_H_
+
+#include <string>
+
+namespace opticaldataglove{
+
+/*
+ * Class describing the distances between the joints on the human hand. These should be get only once.
+ */
+class HandModel
+{
+
+public :
+
+    double THJ3_to_THJ2;
+    double THJ2_to_THJ1;
+    
+    double FFJ3_to_FFJ2;
+    double FFJ2_to_FFJ1;
+    
+    double MFJ3_to_MFJ2;
+    double MFJ2_to_MFJ1;
+    
+    double RFJ3_to_RFJ2;
+    double RFJ2_to_RFJ1;
+
+    double LFJ3_to_LFJ2;
+    double LFJ2_to_LFJ1;
+    
+    HandModel() :
+        THJ3_to_THJ2(1.0),THJ2_to_THJ1(2.0),FFJ3_to_FFJ2(1.0),FFJ2_to_FFJ1(2.0),
+        MFJ3_to_MFJ2(1.0),MFJ2_to_MFJ1(2.0),RFJ3_to_RFJ2(1.0),RFJ2_to_RFJ1(2.0),
+        LFJ3_to_LFJ2(1.0),LFJ2_to_LFJ1(2.0)
+    {
+    }
+
+    HandModel(HandModel& hm) :
+        THJ3_to_THJ2(hm.THJ3_to_THJ2),THJ2_to_THJ1(hm.THJ2_to_THJ1),FFJ3_to_FFJ2(hm.FFJ3_to_FFJ2),FFJ2_to_FFJ1(hm.FFJ2_to_FFJ1),
+        MFJ3_to_MFJ2(hm.MFJ3_to_MFJ2),MFJ2_to_MFJ1(hm.MFJ2_to_MFJ1),RFJ3_to_RFJ2(hm.RFJ3_to_RFJ2),RFJ2_to_RFJ1(hm.RFJ2_to_RFJ1),
+        LFJ3_to_LFJ2(hm.LFJ3_to_LFJ2),LFJ2_to_LFJ1(hm.LFJ2_to_LFJ1)
+    {
+    };
+
+    HandModel(const HandModel& hm) :
+        THJ3_to_THJ2(hm.THJ3_to_THJ2),THJ2_to_THJ1(hm.THJ2_to_THJ1),FFJ3_to_FFJ2(hm.FFJ3_to_FFJ2),FFJ2_to_FFJ1(hm.FFJ2_to_FFJ1),
+        MFJ3_to_MFJ2(hm.MFJ3_to_MFJ2),MFJ2_to_MFJ1(hm.MFJ2_to_MFJ1),RFJ3_to_RFJ2(hm.RFJ3_to_RFJ2),RFJ2_to_RFJ1(hm.RFJ2_to_RFJ1),
+        LFJ3_to_LFJ2(hm.LFJ3_to_LFJ2),LFJ2_to_LFJ1(hm.LFJ2_to_LFJ1)
+    {
+}
+
+#endif //HAND_MODEL_H_

=== added file 'shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/joint_data.h'
--- shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/joint_data.h	1970-01-01 00:00:00 +0000
+++ shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/joint_data.h	2010-11-03 16:17:45 +0000
@@ -0,0 +1,46 @@
+#ifndef JOINT_DATA_H_
+#define JOINT_DATA_H_
+
+#include <string>
+
+namespace opticaldataglove{
+
+/*
+ * Describes a joint of the hand with any possible information
+ */
+class JointData
+{
+
+public:
+  double position;
+  double target;
+  double temperature;
+  double current;
+  double force;
+  std::string flags;
+  int jointIndex;
+  double min;
+  double max;
+  short isJointZero;
+
+  JointData() :
+    position(0.0), target(0.0), temperature(0.0), current(0.0), force(0.0), flags(""), jointIndex(0),
+    min(0.0), max(90.0), isJointZero(0)
+  {
+  }
+
+  JointData(JointData& jd) :
+    position(jd.position), target(jd.target), temperature(jd.temperature), current(jd.current), force(jd.force),
+        flags(jd.flags), jointIndex(jd.jointIndex), min(jd.min), max(jd.max), isJointZero(jd.isJointZero)
+  {
+  }
+
+  JointData(const JointData& jd) :
+    position(jd.position), target(jd.target), temperature(jd.temperature), current(jd.current), force(jd.force),
+        flags(jd.flags), jointIndex(jd.jointIndex), min(jd.min), max(jd.max), isJointZero(jd.isJointZero)
+  {
+  }
+};
+
+}
+#endif //JOINT_DATA_H_

=== added file 'shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/message_publisher.h'
--- shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/message_publisher.h	1970-01-01 00:00:00 +0000
+++ shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/message_publisher.h	2010-11-03 16:17:45 +0000
@@ -0,0 +1,56 @@
+#ifndef MESSAGE_PUBLISHER_H_
+#define MESSAGE_PUBLISHER_H_
+
+#include <string>
+#include <vector>
+#include <map>
+#include <ros/ros.h>
+#include "opticaldataglove/Start.h"
+#include "opticaldataglove/Stop.h"
+#include "optical_dataglove/joint_data.h"
+#include "optical_dataglove/position_mapper.h"
+#include <boost/smart_ptr.hpp>
+#include <sensor_msgs/JointState.h>
+
+namespace opticaldataglove
+{
+
+/*
+ * Interfacing the acquisition and computing process with the hand over ROS
+ */
+class MessagePublisher 
+{
+public:
+
+    MessagePublisher(boost::shared_ptr<PositionMapper> position_mapper);
+
+
+    ~MessagePublisher();
+
+    std::string publishedTopic;
+    
+/*
+ * Publishes the position of the hand on the specified topic
+ */
+    void publish();
+/*
+ * ROS service to start the publishing
+ */
+    bool start(opticaldataglove::Start::Request &req, opticaldataglove::Start::Response &res);
+/*
+ * ROS service to stop the publishing
+ */
+    bool stop(opticaldataglove::Stop::Request &req, opticaldataglove::Stop::Response &res);
+
+private:
+    
+   std::map<std::string, JointData> handPositions;
+   ros::NodeHandle node;
+   boost::shared_ptr<PositionMapper> positionMapper;
+   ros::Publisher publisher;
+   ros::ServiceServer service_start;
+   ros::ServiceServer service_stop;
+   bool isPublishing;    
+};
+}
+#endif //MESSAGE_PUBLISHER_H_

=== added file 'shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/optical_dataglove.h'
--- shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/optical_dataglove.h	1970-01-01 00:00:00 +0000
+++ shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/optical_dataglove.h	2010-11-03 16:17:45 +0000
@@ -0,0 +1,45 @@
+/**
+ * @file   optical_dataglove.h
+ * @author Ugo Cupcic <[e-mail]>
+ * @date   Wed Jul  7 18:08:41 2010
+ * 
+ * @brief  The Optical Dataglove Class.
+ * 
+ * 
+ */
+
+#ifndef OPTICAL_DATAGLOVE_H_
+#define OPTICAL_DATAGLOVE_H_
+
+#include <ros/ros.h>
+#include <sensor_msgs/Image.h>
+#include <image_transport/image_transport.h>
+#include "cv_bridge/CvBridge.h"
+#include <opencv/cv.h>
+#include <opencv/highgui.h>
+#include <math.h>
+
+namespace optical_dataglove
+{
+  class OpticalDataglove 
+  {
+  public:
+    OpticalDataglove(ros::NodeHandle & nh);
+    ~OpticalDataglove(){};
+
+  protected:
+    ros::NodeHandle nh_;
+    image_transport::ImageTransport it_;
+    image_transport::Subscriber image_sub_;
+    sensor_msgs::CvBridge bridge_;
+    image_transport::Publisher image_pub_;
+    cv::Mat img_in_;
+    cv::Mat img_hsv_;
+    IplImage *cv_input_;
+    IplImage cv_output_;
+
+    void imageCallback (const sensor_msgs::ImageConstPtr & msg_ptr);
+  };
+};
+
+#endif      /* !  OPTICAL_DATAGLOVE_H_  */

=== added file 'shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/position_mapper.h'
--- shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/position_mapper.h	1970-01-01 00:00:00 +0000
+++ shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/position_mapper.h	2010-11-03 16:17:45 +0000
@@ -0,0 +1,44 @@
+#ifndef POSITION_MAPPER_H_
+#define POSITION_MAPPER_H_
+
+#include "optical_dataglove/joint_data.h"
+#include "optical_dataglove/data_analyser.h"
+#include <boost/smart_ptr.hpp>
+#include <map>
+
+namespace opticaldataglove{
+
+/*
+ * Abstract class to interface the DataAnalyser with the Message Publisher : computing the data received by the analyser and convert it to joints positions
+ */
+class PositionMapper
+{
+
+public:
+    
+/*
+ * Constructor
+ */
+    PositionMapper()
+    {
+    };
+
+/*
+ * Destructor
+ */
+    ~PositionMapper()
+    {
+    };
+
+    virtual std::map<std::string, JointData> getHandPositions()=0;
+
+protected:
+    
+    std::map<std::string, JointData> handPositions;
+    std::map<std::string, double> fingerTipPositions;
+    boost::shared_ptr<DataAnalyser> dataAnalyser;
+    virtual void initializeHandPositions()=0;
+};
+}
+
+#endif //POSITION_MAPPER_H_

=== added file 'shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/reverse_kinematics.h'
--- shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/reverse_kinematics.h	1970-01-01 00:00:00 +0000
+++ shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/reverse_kinematics.h	2010-11-03 16:17:45 +0000
@@ -0,0 +1,32 @@
+#ifndef REVERSE_KINEMATICS_H_
+#define REVERSE_KINEMATICS_H_
+
+#include "optical_dataglove/position_mapper.h"
+
+namespace opticaldataglove{
+
+/*
+ * Class to use reverse kinematics to perform the mapping between fingertips position and joint positions
+ */
+class ReverseKinematics : public PositionMapper
+{
+public :
+
+/*
+ * Constructor
+ * @param data_analyser : DataAnalyser which is getting the fingertips positions
+ */
+    ReverseKinematics(boost::shared_ptr<DataAnalyser> data_analyser);
+    
+    ~ReverseKinematics();
+
+    virtual std::map<std::string, JointData> getHandPositions();
+
+private : 
+    
+    virtual void initializeHandPositions();
+
+};
+}
+
+#endif //REVERSE_KINEMATICS_H_

=== added file 'shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/three_dimensions.h'
--- shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/three_dimensions.h	1970-01-01 00:00:00 +0000
+++ shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/three_dimensions.h	2010-11-03 16:17:45 +0000
@@ -0,0 +1,32 @@
+#ifndef THREE_DIMENSIONS_H_
+#define THREE_DIMENSIONS_H_
+
+#include "optical_dataglove/data_analyser.h"
+
+namespace opticaldataglove{
+
+/*
+ * Class performing the conversion between 3D pictures to fingertips positions
+ */
+class ThreeDimensionsAnalyser : public DataAnalyser
+{
+public :
+
+/*
+ * Constructor
+ */
+    ThreeDimensionsAnalyser();
+
+/*
+ * Destructor
+ */
+    ~ThreeDimensionsAnalyser();
+
+
+    virtual std::map<std::string, double> getFingerTipPositions();
+    virtual std::map<std::string, double> getHandModel();
+
+};
+}
+
+#endif //THREE_DIMENSIONS_H_

=== added file 'shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/two_dimensions.h'
--- shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/two_dimensions.h	1970-01-01 00:00:00 +0000
+++ shadow_robot/dataglove/dataglove_processing/include/optical_dataglove/two_dimensions.h	2010-11-03 16:17:45 +0000
@@ -0,0 +1,32 @@
+#ifndef TWO_DIMENSIONS_H_
+#define TWO_DIMENSIONS_H_
+
+#include "optical_dataglove/data_analyser.h"
+
+namespace opticaldataglove{
+
+/*
+ * Class performing the conversion between 2D pictures to fingertips positions
+ */
+class TwoDimensionsAnalyser : public DataAnalyser
+{
+public :
+
+/*
+ * Constructor
+ */
+    TwoDimensionsAnalyser();
+
+/*
+ * Destructor
+ */
+    ~TwoDimensionsAnalyser();
+
+
+    virtual std::map<std::string, double> getFingerTipPositions();
+    virtual std::map<std::string, double> getHandModel();
+
+};
+}
+
+#endif //TWO_DIMENSIONS_H_

=== added directory 'shadow_robot/dataglove/dataglove_processing/launch'
=== added file 'shadow_robot/dataglove/dataglove_processing/launch/usb_camera.launch'
--- shadow_robot/dataglove/dataglove_processing/launch/usb_camera.launch	1970-01-01 00:00:00 +0000
+++ shadow_robot/dataglove/dataglove_processing/launch/usb_camera.launch	2010-11-03 16:17:45 +0000
@@ -0,0 +1,11 @@
+<launch>
+  <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
+    <param name="video_device" value="/dev/video0" />
+    <param name="image_width" value="640" />
+    <param name="image_height" value="480" />
+    <param name="pixel_format" value="mjpeg" />
+    <param name="camera_frame_id" value="usb_cam" />
+    <param name="io_method" value="mmap"/>
+  </node>
+  <node name="optical_dataglove" pkg="optical_dataglove" type="optical_dataglove" output="screen" />
+</launch>

=== added file 'shadow_robot/dataglove/dataglove_processing/mainpage.dox'
--- shadow_robot/dataglove/dataglove_processing/mainpage.dox	1970-01-01 00:00:00 +0000
+++ shadow_robot/dataglove/dataglove_processing/mainpage.dox	2010-11-03 16:17:45 +0000
@@ -0,0 +1,43 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b optical_dataglove is ... 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+\section dependencies installing dependencies
+\subsection usbcam usb_cam ros driver - Bosch
+The optical dataglove package depends on the usb_cam driver from Bosch. 
+To install it, run the following commands:
+\verbatim 
+cd ~/ros/stacks
+svn co https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg
+cd ~/ros/stacks/bosch-ros-pkg/trunk/bosch_drivers/usb_cam
+rosdep install usb_cam
+rosmake --rosdep-install image_view usb_cam
+
+\endverbatim
+
+You can test it has been installed by running:
+\verbatim
+roslaunch optical_dataglove test_usb_cam.launch
+\endverbatim
+
+\section codeapi Code API
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+
+*/

=== added file 'shadow_robot/dataglove/dataglove_processing/manifest.xml'
--- shadow_robot/dataglove/dataglove_processing/manifest.xml	1970-01-01 00:00:00 +0000
+++ shadow_robot/dataglove/dataglove_processing/manifest.xml	2010-11-03 16:17:45 +0000
@@ -0,0 +1,23 @@
+<package>
+  <description brief="optical_dataglove">
+
+     optical_dataglove
+
+  </description>
+  <author>Ugo Cupcic</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/optical_dataglove</url>
+  <depend package="roscpp"/>
+  <depend package="rospy"/>
+  <depend package="std_msgs"/>
+  <depend package="sensor_msgs"/>
+  <depend package="cv_bridge"/>
+  <depend package="opencv2"/>
+  <depend package="usb_cam"/>
+  <depend package="image_transport"/>
+
+</package>
+
+
+

=== added directory 'shadow_robot/dataglove/dataglove_processing/src'
=== added file 'shadow_robot/dataglove/dataglove_processing/src/database_mapping.cpp'
--- shadow_robot/dataglove/dataglove_processing/src/database_mapping.cpp	1970-01-01 00:00:00 +0000
+++ shadow_robot/dataglove/dataglove_processing/src/database_mapping.cpp	2010-11-03 16:17:45 +0000
@@ -0,0 +1,62 @@
+#include  "optical_dataglove/database_mapping.h"
+
+namespace opticaldataglove{
+
+DatabaseMapping::DatabaseMapping(boost::shared_ptr<DataAnalyser> data_analyser): PositionMapper()
+{
+    this->dataAnalyser=data_analyser;
+    initializeHandPositions();
+}
+
+DatabaseMapping::~DatabaseMapping()
+{
+
+}
+
+std::map<std::string, JointData> DatabaseMapping::getHandPositions()
+{
+    return handPositions;
+}
+
+void DatabaseMapping::initializeHandPositions()
+{
+    this->handPositions["THJ1"] = JointData();
+    this->handPositions["THJ1"].position =0.0;
+    this->handPositions["THJ2"] = JointData();
+    this->handPositions["THJ2"].position = 0.0;
+    this->handPositions["THJ3"] = JointData();
+    this->handPositions["THJ3"].position = 0.0;
+    this->handPositions["THJ4"] = JointData();
+    this->handPositions["THJ4"].position = 0.0;
+    this->handPositions["THJ5"] = JointData();
+    this->handPositions["THJ5"].position = 0.0;
+    this->handPositions["FFJ0"] = JointData();
+    this->handPositions["FFJ0"].position = 0.0;
+    this->handPositions["FFJ3"] = JointData();
+    this->handPositions["FFJ3"].position = 0.0;
+    this->handPositions["FFJ4"] = JointData();
+    this->handPositions["FFJ4"].position = 0.0;
+    this->handPositions["MFJ0"] = JointData();
+    this->handPositions["MFJ0"].position = 0.0;
+    this->handPositions["MFJ3"] = JointData();
+    this->handPositions["MFJ3"].position = 0.0;
+    this->handPositions["MFJ4"] = JointData();
+    this->handPositions["MFJ4"].position = 0.0;
+    this->handPositions["RFJ0"] = JointData();
+    this->handPositions["RFJ0"].position = 0.0;
+    this->handPositions["RFJ3"] = JointData();
+    this->handPositions["RFJ3"].position = 0.0;
+    this->handPositions["RFJ4"] = JointData();
+    this->handPositions["RFJ4"].position = 0.0;
+    this->handPositions["LFJ0"] = JointData();
+    this->handPositions["LFJ0"].position = 0.0;
+    this->handPositions["LFJ3"] = JointData();
+    this->handPositions["LFJ3"].position = 0.0;
+    this->handPositions["LFJ4"] = JointData();
+    this->handPositions["LFJ4"].position = 0.0;
+    this->handPositions["LFJ5"] = JointData();
+    this->handPositions["LFJ5"].position = 0.0;
+ 
+}
+
+}

=== added file 'shadow_robot/dataglove/dataglove_processing/src/message_publisher.cpp'
--- shadow_robot/dataglove/dataglove_processing/src/message_publisher.cpp	1970-01-01 00:00:00 +0000
+++ shadow_robot/dataglove/dataglove_processing/src/message_publisher.cpp	2010-11-03 16:17:45 +0000
@@ -0,0 +1,55 @@
+#include "optical_dataglove/message_publisher.h"
+
+namespace opticaldataglove
+{
+
+MessagePublisher::MessagePublisher(boost::shared_ptr<PositionMapper> position_mapper): publishedTopic("joint_state"), node("~"), positionMapper(position_mapper), isPublishing(true)
+{
+     service_start = node.advertiseService("start", &MessagePublisher::start, this);
+     service_stop = node.advertiseService("stop", &MessagePublisher::stop, this);
+    publisher = node.advertise<sensor_msgs::JointState>("joint_state",2); 
+    ROS_INFO("Ready to start");
+}
+
+MessagePublisher::~MessagePublisher()
+{
+
+}
+
+bool MessagePublisher::start(opticaldataglove::Start::Request &req, opticaldataglove::Start::Response &res)
+{
+    ROS_INFO("Starting publisher");
+    isPublishing = true;
+    res.state = true;
+    return true;
+}
+
+bool MessagePublisher::stop(opticaldataglove::Stop::Request &req, opticaldataglove::Stop::Response &res)
+{
+    ROS_INFO("Stoping publisher");
+    isPublishing = false;
+    res.state = false;
+    return true;
+}
+
+void MessagePublisher::publish()
+{
+   if (isPublishing){ 
+        std::map<std::string, JointData> map = this->positionMapper->getHandPositions();
+        sensor_msgs::JointState joint_state;
+        joint_state.header.stamp = ros::Time::now();
+
+        for(std::map<std::string, JointData>::const_iterator it = map.begin(); it != map.end(); it++)
+        {
+            JointData value = it->second;
+            joint_state.name.push_back(it->first);
+            joint_state.position.push_back(value.position);
+            joint_state.velocity.push_back(0.0);
+            joint_state.effort.push_back(0.0);
+        }
+
+        this->publisher.publish(joint_state);
+    }
+}
+
+}

=== added file 'shadow_robot/dataglove/dataglove_processing/src/optical_dataglove.cpp'
--- shadow_robot/dataglove/dataglove_processing/src/optical_dataglove.cpp	1970-01-01 00:00:00 +0000
+++ shadow_robot/dataglove/dataglove_processing/src/optical_dataglove.cpp	2010-11-03 16:17:45 +0000
@@ -0,0 +1,60 @@
+/**
+ * @file   optical_dataglove.cpp
+ * @author Ugo Cupcic <[e-mail]>
+ * @date   Wed Jul  7 18:07:42 2010
+ * 
+ * @brief  The Optical Dataglove class
+ * 
+ * 
+ */
+
+#include "optical_dataglove/optical_dataglove.h"
+
+namespace optical_dataglove
+{
+  OpticalDataglove::OpticalDataglove (ros::NodeHandle & nh):nh_ (nh), it_ (nh_)
+  {
+    // Advertise image messages to a topic
+    image_pub_ = it_.advertise ("/demo/output_image", 1);
+    // Listen for image messages on a topic and setup callback
+    image_sub_ = it_.subscribe ("/usb_cam/image_raw", 1, &OpticalDataglove::imageCallback, this);
+    // Open HighGUI Window
+    cv::namedWindow ("hsv", 1);
+  }
+
+  void OpticalDataglove::imageCallback (const sensor_msgs::ImageConstPtr & msg_ptr)
+  {
+    // Convert ROS Imput Image Message to IplImage
+    try
+      {
+	cv_input_ = bridge_.imgMsgToCv (msg_ptr, "bgr8");
+      }
+    catch (sensor_msgs::CvBridgeException error)
+      {
+	ROS_ERROR ("CvBridge Input Error");
+      }
+
+    // Convert IplImage to cv::Mat
+    img_in_ = cv::Mat (cv_input_).clone ();
+    // Convert Input image from BGR to HSV
+    cv::cvtColor (img_in_, img_hsv_, CV_BGR2HSV);
+
+    // Display HSV Image in HighGUI window
+    cv::imshow ("hsv", img_hsv_);
+
+    // Needed to  keep the HighGUI window open
+    cv::waitKey (3);
+
+    // Convert cv::Mat to IplImage
+    cv_output_ = img_hsv_;
+    // Convert IplImage to ROS Output Image Message and Publish
+    try
+      {
+	image_pub_.publish (bridge_.cvToImgMsg (&cv_output_, "bgr8"));
+      }
+    catch (sensor_msgs::CvBridgeException error)
+      {
+	ROS_ERROR ("CvBridge Output error");
+      }
+  }
+}; //end namespace

=== added file 'shadow_robot/dataglove/dataglove_processing/src/optical_dataglove_node.cpp'
--- shadow_robot/dataglove/dataglove_processing/src/optical_dataglove_node.cpp	1970-01-01 00:00:00 +0000
+++ shadow_robot/dataglove/dataglove_processing/src/optical_dataglove_node.cpp	2010-11-03 16:17:45 +0000
@@ -0,0 +1,47 @@
+/**
+ * @file   optical_dataglove_node.cpp
+ * @author Ugo Cupcic <[e-mail]>
+ * @date   Wed Jul  7 18:02:38 2010
+ * 
+ * @brief  Contains the main for the optical dataglove. Start a ROS node.
+ * 
+ * 
+ */
+
+
+#include <boost/smart_ptr.hpp>
+#include "optical_dataglove/message_publisher.h"
+#include "optical_dataglove/data_analyser.h"
+#include "optical_dataglove/two_dimensions.h"
+#include "optical_dataglove/position_mapper.h"
+#include "optical_dataglove/reverse_kinematics.h"
+#include "optical_dataglove/optical_dataglove.h"
+
+using namespace opticaldataglove;
+
+int main (int argc, char **argv)
+{
+  // Initialize ROS Node
+  ros::init (argc, argv, "optical_dataglove");
+  // Start node and create a Node Handle
+  ros::NodeHandle nh;
+  // Instantiate 
+  //boost::shared_ptr<OpticalDataglove> optical_dataglove (new OpticalDataglove(nh));
+  boost::shared_ptr<DataAnalyser> data (new TwoDimensionsAnalyser());
+  boost::shared_ptr<PositionMapper> pos (new ReverseKinematics(data));
+  boost::shared_ptr<MessagePublisher> mes (new MessagePublisher(pos));
+  //mes->start();
+  // Spin ...
+  ros::Rate loop_rate(5);
+  
+  while(ros::ok()){
+    //ROS_INFO("ros::ok()");
+    mes->publish();
+    ros::spinOnce();
+    loop_rate.sleep();
+  }
+
+  ros::spin ();
+  // ... until done
+  return 0;
+}

=== added directory 'shadow_robot/dataglove/dataglove_processing/src/opticaldataglove'
=== added file 'shadow_robot/dataglove/dataglove_processing/src/opticaldataglove/__init__.py'
=== added directory 'shadow_robot/dataglove/dataglove_processing/src/opticaldataglove/srv'
=== added file 'shadow_robot/dataglove/dataglove_processing/src/opticaldataglove/srv/_Start.py'
--- shadow_robot/dataglove/dataglove_processing/src/opticaldataglove/srv/_Start.py	1970-01-01 00:00:00 +0000
+++ shadow_robot/dataglove/dataglove_processing/src/opticaldataglove/srv/_Start.py	2010-11-03 16:17:45 +0000
@@ -0,0 +1,199 @@
+"""autogenerated by genmsg_py from StartRequest.msg. Do not edit."""
+import roslib.message
+import struct
+
+
+class StartRequest(roslib.message.Message):
+  _md5sum = "d41d8cd98f00b204e9800998ecf8427e"
+  _type = "opticaldataglove/StartRequest"
+  _has_header = False #flag to mark the presence of a Header object
+  _full_text = """
+"""
+  __slots__ = []
+  _slot_types = []
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+    
+    The available fields are:
+       
+    
+    @param args: complete set of field values, in .msg order
+    @param kwds: use keyword arguments corresponding to message field names
+    to set specific fields. 
+    """
+    if args or kwds:
+      super(StartRequest, self).__init__(*args, **kwds)
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    @param buff: buffer
+    @type  buff: StringIO
+    """
+    try:
+      pass
+    except struct.error, se: self._check_types(se)
+    except TypeError, te: self._check_types(te)
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    @param str: byte array of serialized message
+    @type  str: str
+    """
+    try:
+      end = 0
+      return self
+    except struct.error, e:
+      raise roslib.message.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    @param buff: buffer
+    @type  buff: StringIO
+    @param numpy: numpy python module
+    @type  numpy module
+    """
+    try:
+      pass
+    except struct.error, se: self._check_types(se)
+    except TypeError, te: self._check_types(te)
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    @param str: byte array of serialized message
+    @type  str: str
+    @param numpy: numpy python module
+    @type  numpy: module
+    """
+    try:
+      end = 0
+      return self
+    except struct.error, e:
+      raise roslib.message.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = roslib.message.struct_I
+"""autogenerated by genmsg_py from StartResponse.msg. Do not edit."""
+import roslib.message
+import struct
+
+
+class StartResponse(roslib.message.Message):
+  _md5sum = "001fde3cab9e313a150416ff09c08ee4"
+  _type = "opticaldataglove/StartResponse"
+  _has_header = False #flag to mark the presence of a Header object
+  _full_text = """bool state
+
+
+"""
+  __slots__ = ['state']
+  _slot_types = ['bool']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+    
+    The available fields are:
+       state
+    
+    @param args: complete set of field values, in .msg order
+    @param kwds: use keyword arguments corresponding to message field names
+    to set specific fields. 
+    """
+    if args or kwds:
+      super(StartResponse, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.state is None:
+        self.state = False
+    else:
+      self.state = False
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    @param buff: buffer
+    @type  buff: StringIO
+    """
+    try:
+      buff.write(_struct_B.pack(self.state))
+    except struct.error, se: self._check_types(se)
+    except TypeError, te: self._check_types(te)
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    @param str: byte array of serialized message
+    @type  str: str
+    """
+    try:
+      end = 0
+      start = end
+      end += 1
+      (self.state,) = _struct_B.unpack(str[start:end])
+      self.state = bool(self.state)
+      return self
+    except struct.error, e:
+      raise roslib.message.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    @param buff: buffer
+    @type  buff: StringIO
+    @param numpy: numpy python module
+    @type  numpy module
+    """
+    try:
+      buff.write(_struct_B.pack(self.state))
+    except struct.error, se: self._check_types(se)
+    except TypeError, te: self._check_types(te)
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    @param str: byte array of serialized message
+    @type  str: str
+    @param numpy: numpy python module
+    @type  numpy: module
+    """
+    try:
+      end = 0
+      start = end
+      end += 1
+      (self.state,) = _struct_B.unpack(str[start:end])
+      self.state = bool(self.state)
+      return self
+    except struct.error, e:
+      raise roslib.message.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = roslib.message.struct_I
+_struct_B = struct.Struct("<B")
+class Start(roslib.message.ServiceDefinition):
+  _type          = 'opticaldataglove/Start'
+  _md5sum = '001fde3cab9e313a150416ff09c08ee4'
+  _request_class  = StartRequest
+  _response_class = StartResponse

=== added file 'shadow_robot/dataglove/dataglove_processing/src/opticaldataglove/srv/_Stop.py'
--- shadow_robot/dataglove/dataglove_processing/src/opticaldataglove/srv/_Stop.py	1970-01-01 00:00:00 +0000
+++ shadow_robot/dataglove/dataglove_processing/src/opticaldataglove/srv/_Stop.py	2010-11-03 16:17:45 +0000
@@ -0,0 +1,199 @@
+"""autogenerated by genmsg_py from StopRequest.msg. Do not edit."""
+import roslib.message
+import struct
+
+
+class StopRequest(roslib.message.Message):
+  _md5sum = "d41d8cd98f00b204e9800998ecf8427e"
+  _type = "opticaldataglove/StopRequest"
+  _has_header = False #flag to mark the presence of a Header object
+  _full_text = """
+"""
+  __slots__ = []
+  _slot_types = []
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+    
+    The available fields are:
+       
+    
+    @param args: complete set of field values, in .msg order
+    @param kwds: use keyword arguments corresponding to message field names
+    to set specific fields. 
+    """
+    if args or kwds:
+      super(StopRequest, self).__init__(*args, **kwds)
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    @param buff: buffer
+    @type  buff: StringIO
+    """
+    try:
+      pass
+    except struct.error, se: self._check_types(se)
+    except TypeError, te: self._check_types(te)
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    @param str: byte array of serialized message
+    @type  str: str
+    """
+    try:
+      end = 0
+      return self
+    except struct.error, e:
+      raise roslib.message.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    @param buff: buffer
+    @type  buff: StringIO
+    @param numpy: numpy python module
+    @type  numpy module
+    """
+    try:
+      pass
+    except struct.error, se: self._check_types(se)
+    except TypeError, te: self._check_types(te)
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    @param str: byte array of serialized message
+    @type  str: str
+    @param numpy: numpy python module
+    @type  numpy: module
+    """
+    try:
+      end = 0
+      return self
+    except struct.error, e:
+      raise roslib.message.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = roslib.message.struct_I
+"""autogenerated by genmsg_py from StopResponse.msg. Do not edit."""