## repository: https://code.ros.org/svn/wg-ros-pkg
<<PackageHeader(pr2_drive_life_test)>>
<<TOC(4)>>

== Overview ==

The `pr2_drive_life_test` package contains a tool to shuffle the PR2 during a [[life_test/PR2 Burn In|PR2 Burn In Test]]. This tool should be launched with the file `pr2_drive_life_test/pr2_drive_life_test.launch`. 

The script `pr2_drive_life_test.py` commands the PR2 base during the PR2 burn in test. It runs a 500 Hz loop to command the base along a sinusoidal path inside the PR2 burn-in test fixture.

The launch file contains a [[map_server]] and [[amcl]] to localize the robot in the test fixture. The map `life_test.pgm` is specific to the PR2 burn in text fixture.

=== Reset / Relocalize ===

If the script detects that motors are halted, it will stop sending drive commands until the service `pr2_base/reset_drive` is called. When the service is called, the robot is relocalized to the center of the test fixture by publishing on the `initialpose` topic.

This reset ability allows an operator to recenter a robot that has gotten lost in the burn in test fixture.

=== Listener ===

A special "listener" in [[pr2_hardware_test_monitor]] listens to the output from the `pr2_drive_life_test.py` script. It will call the `pr2_base/reset_drive` service when needed.

== ROS API ==

{{{
#!clearsilver CS/NodeAPI
name = pr2_drive_life_test.py
desc = Drives the PR2 base during the PR2 burn in test.
sub {
  0.name = pr2_etherCAT/motors_halted
  0.type = std_msgs/Bool
  0.desc = Motors halted
}
pub {
  0.name = base_driving
  0.type = std_msgs/Bool
  0.desc = Whether robot is driving or not.
  1.name = visualization_markers
  1.type = visualization_msgs/Marker
  1.desc = Target/goal pose of the robot.
  2.name = cmd_vel
  2.type = geometry_msgs/Twist
  2.desc = Commanded velocity of the robot
  3.name = initialpose
  3.type = geometry_msgs/PoseWithCovarianceStamped
  3.desc = Initial pose of the robot
}
srv {
  0.name = pr2_base/halt_drive
  0.type = std_srvs/Empty
  0.desc = Stop sending drive commands
  1.name = pr2_base/reset_drive
  1.type = std_srvs/Empty
  1.desc = Restart sending drive commands
}
}}}




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