pr2_tuck_arm_action
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.
Parameters
~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.
- The namespace of the left arm joint trajectory action to send trajectories to.
- 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.
Examples
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 tuck_arms.py -lt
