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pr2_common_actions: joint_trajectory_action_tools | joint_trajectory_generator | pr2_arm_move_ik | pr2_common_action_msgs | pr2_tilt_laser_interface | pr2_tuck_arms_action

Package Summary

The pr2_tuck_arms_action package

Package Summary

The pr2_tuck_arms_action package

pr2_common_actions: joint_trajectory_action_tools | joint_trajectory_generator | pr2_arm_move_ik | pr2_common_action_msgs | pr2_tilt_laser_interface | pr2_tuck_arms_action

Package Summary

The pr2_tuck_arms_action package

  • Maintainer status: unmaintained
  • Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
  • Author: Wim Meeussen
  • License: BSD
  • Source: git https://github.com/pr2/pr2_common_actions.git (branch: kinetic-devel)
pr2_common_actions: joint_trajectory_action_tools | joint_trajectory_generator | pr2_arm_move_ik | pr2_common_action_msgs | pr2_tilt_laser_interface | pr2_tuck_arms_action

Package Summary

The pr2_tuck_arms_action package

  • Maintainer status: unmaintained
  • Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
  • Author: Wim Meeussen
  • License: BSD
  • Source: git https://github.com/pr2/pr2_common_actions.git (branch: kinetic-devel)

tuckarm.jpg

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

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