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Installation

Install interactive-manipulation-sandbox, object_manipulation, pr2_object_manipulation, pr2_plugs, and smach from source. Here’s the lines for your rosinstall (modify if you’re using your own forks of any repos):

Build everything:

rosmake pr2_executer_launch

Running the Executer Server

roslaunch pr2_executer_launch executer.launch

Executing Actions

There are pre-written example json descriptions for executing some actions in smach_executer/test/json. These can be sent to the server manually to make sure it is working by running:

rosrun smach_executer call_executer <json file>

Documentation for the Actions

For the moment, actions are documented in the doc strings of their corresponding python classes. You can find these classes, one per file, in src/smach_executer/actions

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