Detect whether plug-in was successful (ros ticket #3817)

[ahendrix]

Simulate expected vision error by adding +/- 2cm of noise along depth from camera to ground-truth position measurement and getting it to plug in with that noise

trac data:

• Owner: mwise
• Reporter: berger
• Reported at: Mon Feb 8 10:26:06 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3817

[ahendrix]

[berger] Wim - want to use multiple view angles to get rid of view angles

Alternate solution - use tap or alternate sensor to get Z value (laser or stereo)

To deal with this well, want to fill out covariance for detection so that we can reason about it.

Kurt - we can estimate simplified version of covariance.

Next step: Wim to use current detectors to prototype active sensing.

[ahendrix]

[jbohren] Strategy for this:

relax controllers, explore stiffness space, and classify as in or out of socket.