Only released in EOL distros:

Package Summary

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

Author: Wim Meeussen, Melonee Wise, Jon Bohren, Eitan Marder-Eppstein, Patrick Michelich
License: BSD
Source: hg https://kforge.ros.org/plugs/hg (branch: electric-dev)

Package Summary

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

Author: Wim Meeussen, Melonee Wise, Jon Bohren, Eitan Marder-Eppstein, Patrick Michelich
License: BSD
Source: hg https://kforge.ros.org/plugs/hg (branch: default)

Package Summary

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

Author: Wim Meeussen, Melonee Wise, Jon Bohren, Eitan Marder-Eppstein, Patrick Michelich
License: BSD
Source: hg https://kforge.ros.org/plugs/hg (branch: default)

Package Links

Dependencies (9)

Package Summary

pr2_plugs metapackage. The pr2_plugs metapackage groups all of the functionality needed for the pr2 to plug itself into the wall

Maintainer status: maintained
Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
Author:
License: BSD
Bug / feature tracker: https://github.com/PR2/pr2_plugs/issues
Source: git https://github.com/PR2/pr2_plugs.git (branch: hydro-devel)

Running the plugs demo

You need to install the 'pr2 plugs' stack of ROS (see installation instructions). On Ubuntu, this means:

 $ sudo apt-get install ros-fuerte-pr2-plugs

Simulation

Follow the PR2 Plugs Itself In tutorial.

PR2

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

plugs_calibration_offset:
  y: 0.0
  z: 0.0

Depending on where the plug hits the outlet, you'll need to in/de-crease the calibration offset:

The plug offsets are reloaded from the parameter server before every plug attempt. After changing the offsets, load the file into the parameter server before retrying:

 $ rosparam load /etc/ros/plugs/hw_calibration.yaml

Now launch the code:

 $ roslaunch pr2_plugs_actions  pr2_base_application.launch
 $ roslaunch pr2_plugs_actions  plug_actions.launch run_sim:=0

To plug in:

  $ rosrun pr2_plugs_actions  app_plugin.py

And to unplug:

  $ rosrun pr2_plugs_actions  app_unplug.py

Report a Bug

<<TracLink(wg-ros-pkg plugs)>>