A copy of the pr2_controller_configuration package, for use in the PR2 simulator. We maintain two copies to allow for controller gains to be set differently between hardware and simulation.

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

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

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

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

pr2_counterbalance_check

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

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 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.

A metapackage to aggregate several packages.

Main loop that runs the robot.

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

Launch scripts for simulating the PR2 in

Gazebo Plugins for various PR2-specific sensors and actuators on the robot.

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.

The pr2_gripper_sensor package

The pr2_gripper_sensor_action package provides an action interface for talking to the pr2_gripper_sensor_controller real-time controller. It provides several different actions for getting high-level sensor information from the PR2 palm-mounted accelerometers, fingertip pressure arrays, and gripper motor/encoder, as well as several sensor-based gripper control actions that respond with low-latency in real-time.

The pr2_gripper_sensor_controller package is a real-time controller that integrates signals from the PR2 hand-mounted accelerometer and finger-mounted pressure sensors with motor control of the gripper joint to do highly responsive sensing and low-latency closed-loop control.

The pr2_gripper_sensor_msgs package contains various actions and messages that are used in the pr2_gripper_sensor* packages. The structure of the API used by pr2_gripper_sensor_action, and pr2_gripper_sensor_controller packages is as follows: Users will send a goal to an Action in the message format of PR2Gripper*Command (where * replaces the name of the particular Action from pr2_gripper_sensor_action). Feedback and Result information for the action is then returned in the format of PR2Gripper*Data.

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 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.

The pr2_kinematics package

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_mannequin_mode package

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

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

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

This package defines services that are used to communicate with the realtime control loop. It also defines messages that represent the state of the realtime controllers, the joints and the actuators.

pr2_motor_diagnostic_tool

pr2_move_base

pr2_move_group_test

An automatically generated package with all the configuration and launch files for using the pr2 with the MoveIt Motion Planning Framework

PR2 specific plugins for MoveIt

The pr2_moveit_tests package

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

The pr2_navigation stack holds common configuration options for running the

The pr2_navigation_apps package

This package holds common configuration files for running the

This package holds XML files for running the