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Regain control of PR2 after interactive manipulation

asked 2013-04-21 10:37:17 -0500

Ashesh gravatar image

updated 2014-01-28 17:16:13 -0500

ngrennan gravatar image

Hello Everyone

Is there any way to regain control of PR2 after interactive manipulation, in simulation, using Rviz?

The problem I am stuck with is, I interact with robot's arms using "interact" tab in Rviz interactive manipulation and then try tucking them using, but the robot doesn't respond to it. Even after closing Rviz interactive manipulation (both robot.launch and desktop.launch) I am not able to tuck robot's arms. The only solution I currently have with me is relaunching pr2_gazebo, but I am sure there must be a better way of doing it.

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answered 2013-04-22 06:46:13 -0500

Ashesh gravatar image

Okay, I figured out the answer to this myself. What happens is, ROS interactive manipulation stops the controllers. So in order to regain control of PR2 one should restart the controllers using the following command:

rosrun pr2_controller_manager pr2_controller_manager start <controller_name>

In my case the controller_name = r_arm_controller

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It might be sufficient to click on the grippers in rviz so the 6-dof controls disappear, which disables the cartesian controller.

dgossow gravatar image dgossow  ( 2013-04-22 06:59:45 -0500 )edit

Actually, I guess this doesn't help. As soon as one starts interacting with the robot via Rviz, the controllers are stopped. One can run rosrun pr2_controller_manager pr2_controller_manager, to get the status of controller.

Ashesh gravatar image Ashesh  ( 2013-04-22 07:23:54 -0500 )edit

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Asked: 2013-04-21 10:37:17 -0500

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Last updated: Apr 22 '13