## repository: https://code.ros.org/svn/wg-ros-pkg
<<PackageHeader(pr2_tuckarm)>>

== Bring up the robot ==
As with all applications, you must first [[pr2_apps#bringup|bring up your robot]].

== Launching ==

=== Boxturtle ===
The tuck arm application is a Python script, `tuckarms.py`:
{{{
USAGE: tuck_arms.py [b | l | r] 
}}}


For example, to tuck both arms:
{{{
rosrun pr2_tuckarm tuck_arms.py b
}}}


=== C-turtle or newer versions ===
The tuck arm application is a Python script, `tuck_arms.py`:
{{{
USAGE: tuck_arms.py [-r <action>] [-l <action>]; <action> is '(t)uck' or '(u)ntuck'.
}}}


For example, to tuck both arms:
{{{
rosrun pr2_tuckarm tuck_arms.py -r t -l t
}}}

or to untuck the right arm only:
{{{
rosrun pr2_tuckarm tuck_arms.py --right untuck 
}}}


If this runs properly, you will see the PR2 tuck each of its arms in turn and see something like the following feedback in the terminal:
 * Waiting for controller manager to start
 * Tucking both left and right arm

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