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wiggle_plug

wiggle_plug action is used wiggle the plug in and out of the outlet as well as detect whether the plug is in the outlet.

The action uses the pr2_arm_ik_action to wiggle the plug slowly into and out of the outlet. While wiggling the max motion of the plug is monitored, if the max motion exceeds a threshold the action aborts.

Action Goal

wiggle_plug/goal (pr2_plugs_msgs/WigglePlugGoal)

Action Result

wiggle_plug/result (pr2_plugs_msgs/WigglePlugResult)

Actions Called

r_arm_ik (pr2_arm_ik_action)

Subscribed Topics

joint_states (sensor_msgs/JointState)

Published Topics

visualization_marker (visualization_msgs/Marker)

2019-12-07 12:58