This stack contains drivers for the ethercat system and the peripherals that connect to it: motor control boards, fingertip sensors, texture projector, hand accelerometer.

Main loop that runs the robot.

A metapackage to aggregate several packages.

This package contains the description (mechanical, kinematic, visual, etc.) of the PR2 robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

Stores the data from a series of laser scan messages in a dense representation, allowing users to easily perform image-like operations on intensity or range data. This package is experimental. Expect APIs to change.

This package contains scripts for making a PR2 deliver a small object from one place to another, and return to a home base.

A simple script that aggregates all of the topics that a "pr2_dashboard" app might be interested in.

Messages, services, and actions used in the pr2_controllers stack.

Contains the controllers that run in realtime on the PR2 and supporting packages.

The controller manager (CM) package provides the infrastructure to run controllers in a hard realtime loop.

This package specifies the interface to a realtime controller. A controller that implements this interface can be executed by the

Configuration files for PR2 controllers.

Monitors the computer's processor and hard drives of the PR2 and publishes data to diagnostics.

URDF description of the robot kinematics and dynamics, 3D models of robot components, information required for gazebo to simulate the PR2, and messages specific to the PR2 such as detailed information about its power board and fingertip pressure sensors.

Launch files and configuration files needed to run the calibration pipeline on PR2. This package is still experimental. Expect large changes tp occur.

The pr2_calibration_controllers package contains the controllers used to bring all the joints in the PR2 to a calibrated state.

The pr2_calibration package

Launch files and scripts needed to bring a PR2 up into a running state.

A metapackage to aggregate several packages.

A metapackage to aggregate several packages.

The power_monitor collects messages from the ocean_battery_server and the pr2_power_board, and publishes a summary of their data in a friendlier message format.

pose_follower

pose_base_controller

This package wraps the polypartition library to use it as a ros dependency

pointcloud_tools

PMB2-specific simulation components. These include plugins and launch scripts necessary for running PMB2 in simulation.

PMB2 robot description and launch files

Simulation files for the PMB2 robot.

Mechanical, kinematic, visual, etc. description of the PMB2 robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

Gazebo-specifig launch files and scripts needed to configure the controllers of the PMB2 robot in simulation.

Launch files and scripts needed to configure the controllers of the PMB2 robot.

Launch files and scripts needed to bring up the ROS nodes of a PMB2 robot.

PMB2-specific launch files needed to run navigation on the PMB2 robot.

plot_tools

This package contains Player, from the Player Project (http://playerstage.sf.net). This package does not modify Player in any way; it simply provides a convenient way to download and compile the headers and libraries in a way that can be managed by the ROS dependency system.