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):
- hg: {local-name: src/pr2_plugs, uri: 'https://kforge.ros.org/plugs/hg'}
- hg: {local-name: src/smach, uri: 'https://kforge.ros.org/smach/executive_smach'}
- git: {local-name: src/object_manipulation, uri: 'git@github.com:ros-interactive-manipulation/object_manipulation.git'}
- git: {local-name: src/pr2_object_manipulation, uri: 'git@github.com:ros-interactive-manipulation/pr2_object_manipulation.git'}
- git: {local-name: src/interactive-manipulation-sandbox, uri: 'git@github.com:willowgarage/interactive-manipulation-sandbox.git'}
Build everything:
rosmake pr2_executer_launch
roslaunch pr2_executer_launch executer.launch
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>
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