List of Tools and Their Uses

Origin

Create Origin: Provides a 3D point to tools which use them (only Linear Move currently). Either specify a static 3D point or waits for user to right click on a pointcloud in RViz and select Broadcast Point.
Freeze Frame: Makes a static frame out of a frame that is currently moving.
Detect Face: Detects a face and creates a frame out of it.

State Machine: Allows nesting other state machines into the current one.
Sleep: Inserts a state that pauses execution for a specified number of seconds.
Trigger: Inserts a state that waits for the trigger sent by it's Sent Trigger button.

Tuck: Folds and unfolds the arm for navigation.
Position Priority: Moves the tip of the arm in a straight line between two points. Aggressive about maintaining a certain position.
Velocity Priority: Moves the tip of the arm through a sequence of given points. Aggressive about the timing of when each point is played.
Safe Move: Moves the arm to a specified set of joint angles but uses motion planning to avoid obstacles. TODO: not yet working.
Joint Sequence: Moves the arm through a set of key frames.
Gripper: Opens and closes the gripper.
Gripper Event: Wraps around another node and listens for an acceleration or tactile signal preempting the internal node as receiving its signal.
Spine: Moves the PR2's spine up and down.

Navigate: Uses the navigational stack to move the robot to a specified point in the map. Note that the navstack must be running and the robot must be localized.