wiggle_plug
wiggle_plug action is used wiggle the plug in and out of the outlet as well as detect whether the plug is in the outlet.The action uses the pr2_arm_ik_action to wiggle the plug slowly into and out of the outlet. While wiggling the max motion of the plug is monitored, if the max motion exceeds a threshold the action aborts.
Action Goal
wiggle_plug/goal (pr2_plugs_msgs/WigglePlugGoal)- This sets the direction in which to travel, for how long, and at what frequency to wiggle. It also sets the abort threshold.
Action Result
wiggle_plug/result (pr2_plugs_msgs/WigglePlugResult)- This returns an empty result.
Actions Called
r_arm_ik (pr2_arm_ik_action)- This action moves the arm to a given pose.
Subscribed Topics
joint_states (sensor_msgs/JointState)- Listens to joint_states to get the current joint configuration.
Published Topics
visualization_marker (visualization_msgs/Marker)- This shows the expected path of the wiggling plug.
