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Only released in EOL distros:  

Package Summary

An extension of the PR2 props demo, but instead of high fives, the PR2 swings a lightsaber until it detects an impact.

  • Maintainer status: maintained
  • Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
  • Author: David V. Lu!!
  • License: BSD
  • Source: git https://github.com/PR2/pr2_sith.git (branch: hydro-devel)

Background

One of the great things about working on ROS is the ability to see everyone else's code. So when Joe Romano create the pr2_props demo, I was able to take it apart and see how it worked. The basic idea was to

This, along with Stanford's Demo gave me an idea. Essentially, what if you did the same exact demo, with slightly different arm positions, and a plastic lightsaber in the robots hand.

Implementation

While the original pr2_props was written in C++, I converted the whole thing to be Python in a slightly more modular way. All of the arm positions are saved and loaded from yaml files.

Usage

The launch file duel_with_setup will move the PR2's arm to its side, and open the gripper. Place the lightsaber in the PR2's gripper pointing up and press enter.

Cute Video


2019-12-07 12:58