detect_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 Goal

detect_plug/goal (pr2_plugs_msgs/DetectPlugInGripperGoal)
  • This is an empty goal that starts the action.

Action Result

detect_plug/result (pr2_plugs_msgs/DetectPlugInGripperResult)
  • This returns the location where the plug was found in the gripper.

Actions Called

r_arm_plugs_controller/joint_trajectory_action (joint_trajectory_action)
  • This action moves the arm to a joint configuration.
vision_detect_plug_action (vision_detect_plug_action)
  • This action detects the plug.

Wiki: pr2_plugs_actions/detect_plug_action (last edited 2010-02-24 22:47:35 by MeloneeWise)