The purepursuit_planner package. Planner to follow a list of waypoints implementing the Pure Pursuit algorithm.

Playstation 3 SIXAXIS or DUAL SHOCK 3 joystick driver. Driver for the Sony PlayStation 3 SIXAXIS or DUAL SHOCK 3 joysticks. In its current state, this driver is not compatible with the use of other Bluetooth HID devices. The driver listens for a connection on the HID ports, starts the joystick streaming data, and passes the data to the Linux uinput device so that it shows up as a normal joystick.

Predicate Manager is a ROS library to define and manage logical predicates and events.

Tucks the arms of the PR2 robot into a safe position for moving the base of the robot. This also moves the arms out of the view of the tilting laser scanner, as much as possible.

Teleop application for the pr2

pr2_se_calibration_launch

This package provides a node that monitors the state of the run stops of the pr2_robot. When the state of the run stop changes from off to on, this node will automatically enable the power to the motors, and reset the motors. This allows you to use the run stop as a 'pause' button. By using the run stop as a tool to power up the robot, the run stop is also in reach of the user once the robot starts moving.

This stack collects PR2-specific components that are used in bringing up a robot.

pr2_props is a package designed to be the first step towards replacing your real (or imaginary) friends with a robot. Robot gives you mad props yo.

Power drivers for the PR2 robot.

This provides a ROS node for the PR2 Power Board.

This package holds a special teleop configuration for the PR2 robot that should be used when running applications that use autonomous navigation.

This package holds launch files for running the

Filters the robot's body out of point clouds.

This package holds navigation-specific sensor configuration options and launch files for the PR2.

This package holds xml files for running the

This package holds XML files for running the

This package holds common configuration files for running the

The pr2_navigation stack holds common configuration options for running the

Messages for representing PR2 state, such as battery information and the PR2 fingertip sensors.

pr2_move_base

The `pr2_mechanism_diagnostics` node subscribes to `mechanism_statistics` and publishes diagnostics data for joints and controllers on `/diagnostics`.

The pr2_mechanism_controllers package contains realtime controllers that are meant for specific mechanisms of the PR2.

The pr2_mechanism stack contains the infrastructure to control the PR2 robot in a hard realtime control loop.

This package contains the xxx.machine files that describe the different hosts a node can be spawned on. Currently there is one machine file for the pr2 robot, and one for the simulated pr2 robot.

The PR2 head action is a node that provides an action interface for pointing the head of the PR2. It passes trajectory goals to the controller, and reports success when they have finished executing.

This package contains the C++ interfaces to the PR2 hardware components that are controlled over EtherCAT. This includes the motors and encoders needed to control the PR2 mechanism, as well as components like the pressure sensors in the fingertips, camera triggers, etc... All of the hardware components in this interface are directly available to the controllers inside the hard realtime control loop.

The pr2_gripper_action provides an action interface for using the gripper. Users can specify what position to move to (while limiting the force) and the action will report success when the position is reached or failure when the gripper cannot move any longer.

Configuration and launch files for using the PR2 robot with force-torque sensors with the MoveIt Motion Planning Framework