Only released in EOL distros:

Package Summary

The pr2_plugs stack provides the low level actions for autonomously plugging the PR2 into a standard wall outlet.

Author: Wim Meeussen, Melonee Wise, Jon Bohren, Eitan Marder-Eppstein, Patrick Michelich
License: BSD
Source: hg https://kforge.ros.org/plugs/hg (branch: electric-dev)

The pr2_plugs stack provides the low level actions for autonomously plugging the PR2 into a standard wall outlet.

Author: Wim Meeussen, Melonee Wise, Jon Bohren, Eitan Marder-Eppstein, Patrick Michelich
License: BSD
Source: hg https://kforge.ros.org/plugs/hg (branch: default)

The pr2_plugs stack provides the low level actions for autonomously plugging the PR2 into a standard wall outlet.

Author: Wim Meeussen, Melonee Wise, Jon Bohren, Eitan Marder-Eppstein, Patrick Michelich
License: BSD
Source: hg https://kforge.ros.org/plugs/hg (branch: default)

Package Links

Dependencies (9)

pr2_plugs metapackage. The pr2_plugs metapackage groups all of the functionality needed for the pr2 to plug itself into the wall

Running the plugs demo

You need to install the 'pr2all' variant of ROS (see installation instructions). On Ubuntu, this means:

 $ sudo apt-get install ros-cturtle-pr2all

 $ sudo apt-get install ros-diamondback-pr2-applications

Simulation

Follow the PR2 Plugs Itself In tutorial.

PR2

Before you can run on the PR2 robot, you need a robot-specific calibration in /etc/ros/plugs/hw_calibration.yaml:

plugs_calibration_offset:
  y: 0.0
  z: 0.0

Depending on where the plug hits the outlet, you'll need to in/de-crease the calibration offset:

Now run the code to plug in:

 $ roslaunch pr2_plugs_executive  plugin.launch
 $ rosrun pr2_plugs_executive  app_plugin.py

And to unplug:

  $ rosrun pr2_plugs_executive  app_unplug.py

<<TracLink(wg-ros-pkg plugs)>>