pr2_gazebo_plugins¶

Message types¶

• pr2_gazebo_plugins/ModelJointsState
• pr2_gazebo_plugins/PlugCommand

pr2_gazebo_plugins/ModelJointsState¶

Field:	model_pose[] (geometry_msgs/Pose) – joint_names[] (string) – joint_positions[] (float64) –

geometry_msgs/Pose[] model_pose                          # set as single element array if user wishes to specify model pose, otherwise, leave empty
string[] joint_names                                     # list of joint names
float64[] joint_positions                                 # list of desired joint positions, should match joint_names

pr2_gazebo_plugins/PlugCommand¶

Field:	ac_present (bool) – charge_rate (float64) – discharge_rate (float64) – charge (float64) –

bool ac_present
float64 charge_rate
float64 discharge_rate
float64 charge

Service types¶

• pr2_gazebo_plugins/SetModelsJointsStates

pr2_gazebo_plugins/SetModelsJointsStates¶

Field (Request):
	model_names[] (string) – model_joints_states[] (pr2_gazebo_plugins/ModelJointsState) –
Field (Response):
	success (bool) – status_message (string) –

string[] model_names                                      # name of the model
pr2_gazebo_plugins/ModelJointsState[] model_joints_states # model pose and joint positions
---
bool success                                              # return true if spawn successful
string status_message                                     # comments if available