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pr2_tuck_arm_action action uses the joint_trajectory_action to tuck and untuck the PR2's arms. Tucked arms allow the PR2 to navigate without obstructing its own view.

Action Goal

tuck_arms/goal (pr2_common_action_msgs/TuckArmsGoal)
  • This message specifies with arm(s) to (un)tuck.

Action Result

tuck_arms/result (pr2_common_action_msgs/TuckArmsResult)
  • Empty result message. The action status provides information on success/failure.

Actions Called

r_arm_controller/<~joint_trajectory_action> and l_arm_controller/<~joint_trajectory_action> (joint_trajectory_action)
  • This action moves the arm to a joint configuration.


~r_joint_trajectory_action (string, default: r_arm_controller/joint_trajectory_action)
  • The namespace of the right arm joint trajectory action to send trajectories to.
~l_joint_trajectory_action (string, default: l_arm_controller/joint_trajectory_action)
  • The namespace of the left arm joint trajectory action to send trajectories to.
~move_duration (float, default: 2.5 seconds)
  • The duration of each trajectory segment that is executed by tuck arms. If you use a trajectory generator, you can set this value to zero to achieve the maximum possible speed.


For a running ROS system with a PR2 robot the following terminal command can be written to tuck the arms  rosrun pr2_tuck_arms_action -lt 

See tucking arms video

Wiki: pr2_tuck_arms_action (last edited 2014-07-18 12:44:02 by JuanPurcallaArrufi)