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fetch_plug

fetch_plug action is used to retrieve the plug from the storage location on the robot.

The action uses the joint_trajectory_action, pr2_gripper_action, and the vision_detect_plug_action to retrieve the plug from the PR2 base. Once the gripper is closed around the plug the action succeeds.

Action Goal

fetch_plug/goal (pr2_plugs_msgs/FetchPlugGoal)

• This is an empty goal that starts the action.

Action Result

fetch_plug/result (pr2_plugs_msgs/FetchPlugResult)

• This returns the location where the plug was found.

Actions Called

r_gripper_controller/gripper_action (pr2_gripper_action)

• This action opens and closes the gripper.

r_arm_plugs_controller/joint_trajectory_action (joint_trajectory_action)

• This action moves the arm to a joint configuration.

r_arm_ik (pr2_arm_ik_action)

• This action moves the arm to a given pose.

vision_detect_plug_action (vision_detect_plug_action)

• This action detects the plug.