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detect_plug action is used to detect the plug pose in the gripper.

The action uses the joint_trajectory_action, and the vision_detect_plug_action to move the plug near the forearm camera in order to determine the exact pose of the plug in the gripper of PR2.

Action Goal

detect_plug/goal (pr2_plugs_msgs/DetectPlugInGripperGoal)

Action Result

detect_plug/result (pr2_plugs_msgs/DetectPlugInGripperResult)

Actions Called

r_arm_plugs_controller/joint_trajectory_action (joint_trajectory_action) vision_detect_plug_action (vision_detect_plug_action)

2019-12-07 12:58