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pr2_robot: imu_monitor | pr2_bringup | pr2_camera_synchronizer | pr2_computer_monitor | pr2_controller_configuration | pr2_etherCAT | pr2_run_stop_auto_restart

Package Summary

This package provides a node that monitors the state of the run stops of the pr2_robot. When the state of the run stop changes from off to on, this node will automatically enable the power to the motors, and reset the motors. This allows you to use the run stop as a 'pause' button. By using the run stop as a tool to power up the robot, the run stop is also in reach of the user once the robot starts moving.

• Author: Wim Meeussen
• License: BSD
• Repository: pr2-kforge
• Source: hg https://kforge.ros.org/pr2robot/hg

ROS API

run_stop_auto_restart

run_stop_auto_restart is a simple node for resetting the breakers and motors of the PR2. When the state of the run stop changes from off to on, it automatically enables the power to the motors and reset the motors.

Subscribed Topics

power_board/state (pr2_msgs/PowerBoardState)

• The state of the PR2 power board

Services Called

power_board/control (pr2_power_board/PowerBoardCommand)

• Calls power board to enable breakers.

pr2_etherCAT/reset_motors (std_srvs/Empty)

• Resets the motors