pr2_plugs: checkerboard_pose_estimation | outlet_pose_estimation | pr2_plugs_actions | pr2_plugs_common | pr2_plugs_executive | pr2_plugs_msgs | stereo_wall_detection | visual_pose_estimation

Stack Summary

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

• Author: Maintained by Wim Meeussen and Melonee Wise
• License: BSD
• Repository: wg-ros-pkg (https://code.ros.org/svn/wg-ros-pkg)

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

Simulation

Check out the simulator environment:

  $ svn co  https://code.ros.org/svn/wg-ros-pkg/trunk/stacks/wg_robots_gazebo/pr2_plugs_gazebo_demo

Build this code, and run it:

  $ roscd pr2_plugs_gazebo_demo
  $ rosmake
  $ make test

PR2

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

  plug_position_x: 0.0
  plug_position_z: 0.0

Now run the code to plug in:

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

And to unplug:

  $ rosrun pr2_plugs_executive  app_unplug.py

Report a Bug

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