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pr2_controllers: control_toolbox | ethercat_trigger_controllers | joint_trajectory_action | pr2_calibration_controllers | pr2_controllers_msgs | pr2_gripper_action | pr2_head_action | pr2_mechanism_controllers | robot_mechanism_controllers | single_joint_position_action

Package Summary

The PR2 head action is a node that provides an action interface for pointing the head of the PR2. It passes trajectory goals to the controller, and reports success when they have finished executing.

pr2_controllers: control_toolbox | ethercat_trigger_controllers | joint_trajectory_action | pr2_calibration_controllers | pr2_controllers_msgs | pr2_gripper_action | pr2_head_action | pr2_mechanism_controllers | robot_mechanism_controllers | single_joint_position_action

Package Summary

The PR2 head action is a node that provides an action interface for pointing the head of the PR2. It passes trajectory goals to the controller, and reports success when they have finished executing.

Package Summary

The PR2 head action is a node that provides an action interface for pointing the head of the PR2. It passes trajectory goals to the controller, and reports success when they have finished executing.

  • Maintainer status: maintained
  • Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
  • Author: Stuart Glaser
  • License: BSD
pr2_controllers: control_toolbox | ethercat_trigger_controllers | joint_trajectory_action | pr2_calibration_controllers | pr2_controllers_msgs | pr2_gripper_action | pr2_head_action | pr2_mechanism_controllers | robot_mechanism_controllers | single_joint_position_action

Package Summary

The PR2 head action is a node that provides an action interface for pointing the head of the PR2. It passes trajectory goals to the controller, and reports success when they have finished executing.

  • Maintainer status: unmaintained
  • Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
  • Author: Stuart Glaser
  • License: BSD
  • Source: git https://github.com/pr2/pr2_controllers.git (branch: kinetic-devel)
pr2_controllers: control_toolbox | ethercat_trigger_controllers | joint_trajectory_action | pr2_calibration_controllers | pr2_controllers_msgs | pr2_gripper_action | pr2_head_action | pr2_mechanism_controllers | robot_mechanism_controllers | single_joint_position_action

Package Summary

The PR2 head action is a node that provides an action interface for pointing the head of the PR2. It passes trajectory goals to the controller, and reports success when they have finished executing.

  • Maintainer status: unmaintained
  • Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
  • Author: Stuart Glaser
  • License: BSD
  • Source: git https://github.com/pr2/pr2_controllers.git (branch: melodic-devel)
pr2_controllers: control_toolbox | ethercat_trigger_controllers | joint_trajectory_action | pr2_calibration_controllers | pr2_controllers_msgs | pr2_gripper_action | pr2_head_action | pr2_mechanism_controllers | robot_mechanism_controllers | single_joint_position_action

Package Summary

The PR2 head action is a node that provides an action interface for pointing the head of the PR2. It passes trajectory goals to the controller, and reports success when they have finished executing.

  • Maintainer status: unmaintained
  • Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
  • Author: Stuart Glaser
  • License: BSD
  • Source: git https://github.com/pr2/pr2_controllers.git (branch: melodic-devel)

See robot_mechanism_controllers/JointSplineTrajectoryController for information on the controller that the head action communicates with.

head_action_topics.png

Usage

An example of using the head action on the PR2 can be found in the Moving the Head tutorial.

ROS API

The ROS API consists of three parts: private parameters, an action server that achieves pointing actions, and an interface to a trajectory controller.

Parameters

Parameters

~pan_link (string, default: head_pan_link)
  • The name of the pan link of the head
~tilt_link (string, default: head_tilt_link)
  • The name of the tilt link of the head
~success_angle_threshold (double, default: 0.1)
  • The maximum angular error from the desired pointing direction for which the action reports success.

Action interface

The joint trajectory action provides an action server (see actionlib) that takes in goals of the type pr2_controllers_msgs/PointHeadGoal. It reports success when the head is pointed at the target.

Subscribed Topics

~point_head_action/goal (pr2_controllers_msgs/PointHeadActionGoal)
  • Describes where to point the head along with some constraints for the movement.
~point_head_action/cancel (actionlib_msgs/GoalID)
  • A request to cancel a specific goal.

Published Topics

~point_head_action/feedback (pr2_controllers_msgs/PointHeadActionFeedback)
  • Feedback describing the progress the mechanism is making on pointing the head.
~point_head_action/status (actionlib_msgs/GoalStatusArray)
  • Provides status information on the goals that are sent to the action.
~point_head_action/result (pr2_controllers_msgs/PointHeadActionResult)
  • empty

Controller interface

Subscribed Topics

~state (pr2_controllers_msgs/JointTrajectoryControllerState)
  • Listens to the state of the controller.

Published Topics

~command (trajectory_msgs/JointTrajectory)
  • Sends joint trajectories to the controller.

Wiki: pr2_head_action (last edited 2011-07-06 14:38:29 by DanielGrollman)