|
Size: 1595
Comment:
|
Size: 1839
Comment:
|
| Deletions are marked like this. | Additions are marked like this. |
| Line 4: | Line 4: |
If you are using a PR2, we recommend starting with the [[http://pr2support.willowgarage.com/wiki/PR2%20Manual|PR2 User Manual]]. The information below is provided for those wishing to use the PR2 software system as a model for other robots. |
PR2
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.
Configuring your PR2 to use ROS
The PR2 is configured out of the box to use ROS. Binary distributions can be installed via:
sudo apt-get install ros-RELEASE-pr2
or:
sudo apt-get install ros-RELEASE-pr2all
Where RELEASE is boxturtle, cturtle, or unstable.
Library Overview
Basic Configuration
Capability |
ROS package/stack |
Robot-specific Messages |
|
Sensor Drivers |
See "Sensor Drivers" below |
Robot model (URDF) |
|
Machine configuration |
Libraries
Navigation |
|
Simulation (3D) |
|
Arm motion planning |
|
Manipulation |
Sensor Drivers
The PR2 sensor drivers are distributed with the ROS sensor stacks:
For a tutorial on how to add your own sensor to the PR2, please see "Adding a Hokuyo to the PR2".
Running
Please see pr2_bringup.
Tutorials
Please see the official PR2 tutorials.
