stow_plug

stow_plug action is used to return the plug to the storage location on the robot.

The action uses the joint_trajectory_action, pr2_gripper_action, and the vision_detect_plug_action to return the plug to the last measured location and then re-detects that the plug is stowed at the desired location.

Action Goal

stow_plug/goal (pr2_plugs_msgs/StowPlugGoal)

• This is an empty goal that starts the action.

Action Result

stow_plug/result (pr2_plugs_msgs/StowPlugResult)

• This is an empty result.

Actions Called

r_gripper_controller/gripper_action (pr2_gripper_action)

• This action opens and closes the gripper.

r_arm_plugs_controller/joint_trajectory_action (joint_trajectory_action)

• This action moves the arm to a joint configuration.

r_arm_ik (pr2_arm_ik_action)

• This action moves the arm to a given pose.

vision_detect_plug (vision_detect_plug_action)

• This action detects the plug.