detect_outlet

detect_outlet action is used to move the arm and detect the outlet pose near the PR2.

The action uses the joint_trajectory_action, and the vision_detect_outlet_action to move the forearm camera near the outlet in order to determine the exact pose of the outlet.

Action Goal

detect_outlet/goal (pr2_plugs_msgs/DetectOutletGoal)

• This is an empty goal that starts the action.

Action Result

detect_outlet/result (pr2_plugs_msgs/DetectOutletResult)

• This returns the location where the plug was found in the gripper.

Actions Called

r_arm_plugs_controller/joint_trajectory_action (joint_trajectory_action)

• This action moves the arm to a joint configuration.

vision_detect_outlet_action (vision_detect_outlet_action)

• This action detects the outlet.