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