Only released in EOL distros:
cart_pushing: articulate_cart | cart_local_planner | cart_pushing_executive | cart_pushing_msgs | cart_pushing_stage | cart_state_estimator | costmap_trajectory_checker | manipulation_transforms | pr2_gazebo_cartworld | pr2_pose_saver | sbpl_cart_planner
Package Summary
No API documentation
Estimate state of cart being pushed by robot
- Author: Bhaskara Marthi
- License: BSD
- Repository: wg-ros-pkg
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/cart_pushing/tags/cart_pushing-0.2.0
cart_pushing: articulate_cart | cart_local_planner | cart_pushing_executive | cart_pushing_msgs | cart_state_estimator | costmap_trajectory_checker | global_planner_switcher | isolated_point_filter | manipulation_transforms | pr2_gazebo_cartworld | pr2_pose_saver | sbpl_cart_planner
Package Summary
Documented
Estimate state of cart being pushed by robot
- Author: Bhaskara Marthi
- License: BSD
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/cart_pushing/branches/kt
cart_pushing: articulate_cart | cart_local_planner | cart_pushing_executive | cart_pushing_msgs | cart_pushing_stage | cart_state_estimator | costmap_trajectory_checker | isolated_point_filter | manipulation_transforms | pr2_gazebo_cartworld | pr2_pose_saver | sbpl_cart_planner | twist_recovery
Package Summary
Documented
Estimate state of cart being pushed by robot
- Author: Bhaskara Marthi
- License: BSD
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/cart_pushing/trunk
This package provides a ROS node for estimating the cart position.
Advertised topics
cart_footprint (geometry_msgs/PolygonStamped)
- A polygon representing the estimated current bounding box for the cart
Transforms provided
A transform from cart to base_footprint representing the estimated cart pose.
Transforms required
Transforms between base_footprint and the gripper frames specified by the ros parameters.
Services required
manipulation_transforms_server/MapEffectorPosesToObject
- Used to transform gripper poses into cart pose
ROS parameters
cart_pushing/{width,length}
- cart dimensions
{l,r}_gripper_frame
- The frames representing the gripper poses
cart_pushing/footprint_{x,y}_offset
- The offset of the cart reference point from the corner
