cart_pushing: articulate_cart | cart_local_planner | cart_pushing_executive | cart_pushing_msgs | cart_pushing_stage | cart_state_estimator | costmap_trajectory_checker | isolated_point_filter | manipulation_transforms | pr2_gazebo_cartworld | pr2_pose_saver | sbpl_cart_planner | twist_recovery

Package Summary

Estimate state of cart being pushed by robot

• Author: Bhaskara Marthi
• License: BSD
• Repository: wg-ros-pkg
• Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/cart_pushing/trunk/cart_state_estimator

This package provides a ROS node for estimating the cart position.

Advertised topics

cart_footprint (geometry_msgs/PolygonStamped)

• A polygon representing the estimated current bounding box for the cart

Transforms provided

A transform from cart to base_footprint representing the estimated cart pose.

Transforms required

Transforms between base_footprint and the gripper frames specified by the ros parameters.

Services required

manipulation_transforms_server/MapEffectorPosesToObject

• Used to transform gripper poses into cart pose

ROS parameters

cart_pushing/{width,length}

• cart dimensions

{l,r}_gripper_frame

• The frames representing the gripper poses

cart_pushing/footprint_{x,y}_offset

• The offset of the cart reference point from the corner