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rcommander_pr2: ptp_arm_action | pycontroller_manager | rcommander_pr2_gui | tts_server

Package Links

Dependencies (5)
Used by (1)

Package Summary

ptp_arm_action

Author: Hai Nguyen
License: BSD
Source: hg https://kforge.ros.org/rcommander/rcommander_pr2

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Contents

ROS API
1. Action Interface
  1. Subscribed Topics
  2. Parameters

ROS API

Action Interface

The ptp_arm_action node takes a geometry_msgs/PoseStamped from the LinearMovementAction and instructs to robot to move its gripper to that new location.

Subscribed Topics

left_ptp, right_ptp (depends on which arm is being used) (ptp_arm_actions/LinearMovementActionGoal)

Goal for point-to-point movement action.

left_ptp, right_ptp (depends on which arm is being used) (ptp_arm_actions/LinearMovementActionFeedback)

Returns error as a Vector3

left_ptp, right_ptp (depends on which arm is being used) (ptp_arm_actions/LinearMovementActionGoal)

returns error as a Vector3

Parameters

translation_tolerance (float)

Tolerance for translation around goal point.

rotation_tolerance (float)

Tolerance for rotation around goal point.

stall_time (float)

Amount of time allowed for the arm to not make any progress towards goal.

timeout (float)

How long before we should be aborting this motion.