run_stop_auto_restart is a simple node for resetting the breakers and motors of the PR2. When the state of the run stop changes from off to on, it automatically enables the power to the motors and reset the motors.

Subscribed Topics

power_board/state (pr2_msgs/PowerBoardState)
  • The state of the PR2 power board

Services Called

power_board/control (pr2_power_board/PowerBoardCommand)
  • Calls power board to enable breakers.
pr2_etherCAT/reset_motors (std_srvs/Empty)
  • Resets the motors

Wiki: pr2_run_stop_auto_restart (last edited 2010-01-22 21:18:18 by KenConley)