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This package contains YAML files that are used to configure the default controllers and the calibration controllers on the pr2. The package also contains a roslaunch file that configures, loads and starts the default controllers via pr2_controller_manager. The default controllers are:

• base:

  • base_controller

  • base_odometry

• arms:

  • r_arm_controller

  • l_arm_controller

  • r_gripper_controller

  • l_gripper_controller

• head:

  • head_controller

  • laser_tilt_controller

• torso

  • torso_controller

These files are used in places such as pr2_bringup to instantiate the default PR2 controllers.

For pr2_simulator, a clone of this package with separate configuration is in pr2_controller_configuration_gazebo.