Differences between revisions 28 and 29

PR2

PR2 Software Maintainer: Clearpath Robotics

The PR2 is a mobile manipulation platform built by Willow Garage. The PR2 software system is written entirely in ROS. As such, all PR2 capabilities are available via ROS interfaces.

If you are using a PR2, we recommend starting with the PR2 User Manual. The information below is provided for those wishing to use the PR2 software system as a model for other robots.

Contents

Installation

Running

Please see pr2_bringup.

Tutorials

Please see the official PR2 tutorials.

Support

Please visit http://pr2support.willowgarage.com.

Library Overview

Basic Configuration

Component	ROS package/stack
Robot-specific Messages	pr2_msgs
Robot-specific Services	pr2_srvs
Robot model (URDF)	pr2_description
Machine configuration	pr2_machine

Hardware Drivers and Simulation

Component	ROS package/stack
Actuator Drivers	pr2_controllers
Sensor Drivers	See "Sensor Drivers" below
Simulation (3D)	pr2_simulator

High-Level Capabilities

Component	ROS package/stack
Teleop	pr2_teleop
Navigation	pr2_navigation
Kinematics	pr2_kinematics
Arm motion planning	pr2_arm_navigation
Manipulation	pr2_object_manipulation
Perception	vision_opencv, pcl, tabletop_object_perception
Task executive	executive_smach, continuous_ops

Sensor Drivers

The PR2 sensor drivers are distributed with the ROS sensor stacks:

Customizing

PR2 Hardware Modifications

For a tutorial on how to add your own sensor to the PR2, please see "Adding a Hokuyo to the PR2".

Related Repositories

Have your own PR2 libraries? Feel free to add your ros-pkg repository below.

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ROS 2 Documentation

Wiki

Page

User

PR2