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Only released in EOL distros:  

This package contains two main ROS nodes and two supporting scripts..

articulate_cart_server.py

This is the main node for performing articulation of a cart using both arms on the PR2.

Subscribed topics

cart_pushing/ready_pose_achieved (roslib/Header)

~command_twist (geometry_msgs/TwistStamped)

Published topics

/r_cart/command_pose, /l_cart/command_pose (geometry_msgs/PoseStamped)

/r_cart/command_posture, /l_cart/command_posture (std_msg/Float64MultiArray)

invalid_pose (std_msgs/Empty)

Expected services

manipulation_transforms_server/LoadInitialTransforms (manipulation_transforms/LoadInitialTransforms)

manipulation_transforms_server/MapObjectPoseToEffectors (manipulation_transforms/MapObjectPoseToEffectors)

TF frames used

base_footprint

l_gripper_tool_frame, r_gripper_tool_frame

Command line parameters

-g

ROS parameters

cart_pushing/{x,y,t}_{min,max}

cart_pushing/init_pose/position

cart_pushing/init_pose/orientation

fake_articulate_cart_server.py

This is for use in simulators in which gripper frames are not available. It provides the interface of articulate_cart_server.py. Additionally, it publishes transforms between base_footprint and l_gripper_tool_frame/r_gripper_tool_frame corresponding to the commands it receives on ~command_twist.

close_grippers.py

Once a message is received on move_base/goal, keeps the grippers closed by sending commands to {l,r}_gripper_controller/gripper_action.

switch_controllers.py

Once a message is received on cart_pushing/ready_pose_achieved, disables the {l,r}_arm_controller controllers and enables {l,r}_cart. Switches the controllers back before exiting.


2019-12-07 12:26