detect_outletdetect_outlet action is used to move the arm and detect the outlet pose near the PR2.
The action uses the joint_trajectory_action, and the vision_detect_outlet_action to move the forearm camera near the outlet in order to determine the exact pose of the outlet.
Action Goaldetect_outlet/goal (pr2_plugs_msgs/DetectOutletGoal)
- This is an empty goal that starts the action.
Action Resultdetect_outlet/result (pr2_plugs_msgs/DetectOutletResult)
- This returns the location where the plug was found in the gripper.
Actions Calledr_arm_plugs_controller/joint_trajectory_action (joint_trajectory_action)
- This action moves the arm to a joint configuration.
- This action detects the outlet.