drink_serving: bosch_drawer_executive | busbot_bringup | busbot_description | busbot_driver | busbot_filter | busbot_gazebo | busbot_launch | busbot_navigation | busbot_node | ds_common_msgs | ds_master_executive | ds_pr2_2dnav | ds_pr2_drink_fetching_planner | ds_pr2_drop_drink | ds_pr2_fridge_drink_perception | ds_pr2_fridge_handle_detector | ds_pr2_fridge_manipulation_executive | ds_pr2_fridge_opener | ds_turtle_2dnav | ds_webinterface | keyboard_smooth | keyboard_smooth_safe | marker_detector_tbot | multi_robot_visualization
Package Summary
ds_drink_fetching_planner
- Author: Christian Bersch
- License: BSD
- Repository: bosch-ros-pkg
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/drink_serving/ds_pr2_drink_fetching_planner
Contents
This package provides a node with the following action servers:
- Spawning of a collision model for the fridge given the fridge's x,y position and angle in the PR2's local frame, as provided by ds_pr2_fridge_drink perception (spawnFridgeAction).
- Collision-free planning and execution for grasping a can from three predefined locations on the fridge shelf. (grabAction)
Usage:
roslaunch pr2_drink_fetching_planner pr2_drink_fetching_planner.launch