Class PR2CMClient

source code

This class switches between the ee_cart_imped controller and the standard arm_navigation suite of controllers on the PR2 arms.

When invoked, the methods stop one controller and start the other. They require that the controllers are already loaded (albeit stopped). The arm_navigation controllers can be loaded from that stack or by launching the pr2_tabletop_manipulation_launch/launch/pr2_tabletop_manipulation.launch file. The ee_cart_imped controller can be launched using the ee_cart_imped_launch/launch/load_ee_cart_imped.launch file. Note that using the ee_cart_imped.launch file will not work as that not only starts the ee_cart_imped controller, but also continuously inhibits the arm_navigation controllers.