detect_plugdetect_plug action is used to detect the plug pose in the gripper.
The action uses the joint_trajectory_action, and the vision_detect_plug_action to move the plug near the forearm camera in order to determine the exact pose of the plug in the gripper of PR2.
Action Goaldetect_plug/goal (pr2_plugs_msgs/DetectPlugInGripperGoal)
- This is an empty goal that starts the action.
Action Resultdetect_plug/result (pr2_plugs_msgs/DetectPlugInGripperResult)
- This returns the location where the plug was found in the gripper.
Actions Calledr_arm_plugs_controller/joint_trajectory_action (joint_trajectory_action)
- This action moves the arm to a joint configuration.
- This action detects the plug.