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pr2_apps: pr2_mannequin_mode | 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.

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.

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.

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.

pr2_apps: pr2_app_manager | pr2_position_scripts | 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.

pr2_apps: pr2_app_manager | pr2_kinematics | pr2_mannequin_mode | pr2_position_scripts | 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.

pr2_apps: pr2_app_manager | pr2_kinematics | pr2_mannequin_mode | pr2_position_scripts | 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.

pr2_apps: pr2_app_manager | pr2_kinematics | pr2_mannequin_mode | pr2_position_scripts | 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.

pr2_apps: pr2_app_manager | pr2_kinematics | pr2_mannequin_mode | pr2_position_scripts | 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.

pr2_apps: pr2_app_manager | pr2_kinematics | pr2_mannequin_mode | pr2_position_scripts | 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.

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

Wiki: pr2_tuckarm (last edited 2011-11-09 09:31:07 by ThibaultKruse)