pr2_apps: pr2_app_manager | pr2_mannequin_mode | pr2_position_scripts | pr2_teleop | pr2_teleop_general | pr2_tuckarm

Package Summary

Tucks the arms of the PR2 robot into a safe position for moving the base of the robot. This also moves the arms out of the view of the tilting laser scanner, as much as possible.

• Author: Wim Meeussen
• License: BSD
• Repository: pr2-kforge
• Source: hg https://kforge.ros.org/pr2apps/pr2_apps

Bring up the robot

As with all applications, you must first bring up your robot.

Launching

Boxturtle

The tuck arm application is a Python script, tuckarms.py:

USAGE: tuck_arms.py [b | l | r] 

For example, to tuck both arms:

rosrun pr2_tuckarm tuck_arms.py b

C-turtle or newer versions

The tuck arm application is a Python script, tuck_arms.py:

USAGE: tuck_arms.py [-r <action>] [-l <action>]; <action> is '(t)uck' or '(u)ntuck'.

For example, to tuck both arms:

rosrun pr2_tuckarm tuck_arms.py -r t -l t

or to untuck the right arm only:

rosrun pr2_tuckarm tuck_arms.py --right untuck 

If this runs properly, you will see the PR2 tuck each of its arms in turn and see something like the following feedback in the terminal:

• Waiting for controller manager to start
• Tucking both left and right arm