detect_wall_norm
detect_wall_norm action is a node that provides an action interface for determining the wall normal near a given point in space.The action turns on the textured light projector, then uses the pr2_head_action to point the head at the wall, calls the stereo wall detector to determine the wall normal, and finally turns off the texture projector when succeeded.
Action Goal
detect_wall_norm/goal (pr2_plugs_msgs/DetectWallNormGoal)- This is an empty goal that starts the detection.
Action Result
detect_wall_norm/result (pr2_plugs_msgs/DetectWallNormResult)- Returns the wall norm and a point on the wall.
Actions Called
head_traj_controller/point_head_action (pr2_head_action)- This action moves the head to a joint configuration.
Subscribed Topics
projector_controller/rising_edge_timestamps (roslib/Header)- This is used to determine if the textured light projector has turned on.
Services Called
stereo_wall_detection/detect_wall (stereo_wall_detection/DetectWall)- Returns the wall norm and a point on the wall.
