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)
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: default)
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: default)
Package Summary
pr2_plugs metapackage. The pr2_plugs metapackage groups all of the functionality needed for the pr2 to plug itself into the wall
- Maintainer status: maintained
- Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
- Author:
- License: BSD
- Bug / feature tracker: https://github.com/PR2/pr2_plugs/issues
- Source: git https://github.com/PR2/pr2_plugs.git (branch: hydro-devel)
Running the plugs demo
You need to install the 'pr2 plugs' stack of ROS (see installation instructions). On Ubuntu, this means:
$ sudo apt-get install ros-fuerte-pr2-plugs
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:
The plug offsets are reloaded from the parameter server before every plug attempt. After changing the offsets, load the file into the parameter server before retrying:
$ rosparam load /etc/ros/plugs/hw_calibration.yaml
Now launch the code:
$ roslaunch pr2_plugs_actions pr2_base_application.launch $ roslaunch pr2_plugs_actions plug_actions.launch run_sim:=0
To plug in:
$ rosrun pr2_plugs_actions app_plugin.py
And to unplug:
$ rosrun pr2_plugs_actions app_unplug.py
Report a Bug
<<TracLink(wg-ros-pkg plugs)>>
