This package provides a node with the following action servers:

• Spawning of a collision model for the fridge given the fridge's x,y position and angle in the PR2's local frame, as provided by ds_pr2_fridge_drink perception (spawnFridgeAction).
• Collision-free planning and execution for grasping a can from three predefined locations on the fridge shelf. (grabAction)

Usage:

roslaunch pr2_drink_fetching_planner pr2_drink_fetching_planner.launch