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pr2_common_actions: joint_trajectory_action_tools | joint_trajectory_generator | pr2_arm_move_ik | pr2_common_action_msgs | pr2_tilt_laser_interface | pr2_tuck_arms_action

Package Summary

The pr2_tuck_arms_action package



pr2_tuck_arm_action action uses the joint_trajectory_action to tuck and untuck the PR2's arms. Tucked arms allow the PR2 to navigate without obstructing its own view.

Action Goal

tuck_arms/goal (pr2_common_action_msgs/TuckArmsGoal)

Action Result

tuck_arms/result (pr2_common_action_msgs/TuckArmsResult)

Actions Called

r_arm_controller/<~joint_trajectory_action> and l_arm_controller/<~joint_trajectory_action> (joint_trajectory_action)


~r_joint_trajectory_action (string, default: r_arm_controller/joint_trajectory_action) ~l_joint_trajectory_action (string, default: l_arm_controller/joint_trajectory_action) ~move_duration (float, default: 2.5 seconds)


For a running ROS system with a PR2 robot the following terminal command can be written to tuck the arms  rosrun pr2_tuck_arms_action tuck_arms.py -lt 

See tucking arms video

2020-01-18 13:01