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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.

~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.

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 

See tucking arms video