The pr2_fridge_manipulation_executive serves as an intermediate layer between the master_executive and all action_servers provided in the ds_pr2_* packages. It contains a statemachine that responds to two types of action requests for the PR2:

• retrieving a drink from the fridge given the ID of the shelf rail. (PR2GetDrinkAction)
• placing the drink on the busbot.(PR2PlaceDrinkOnTBotAction)

Usage:

All nodes required for the state machine to complete the action requests are launched by

roslaunch ds_pr2_fridge_manipulation_executive fridge_pr2.launch