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PR2

pr2Image.png

ROS Software Maintainer: Community Volunteers / Partially Unmaintained

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.

Installation

Running

Please see pr2_bringup.

Tutorials

Please see the official PR2 tutorials.

Support

After Willow Garage closed down, Clearpath Robotics provided support for existing robots for the transition to ROS indigo. After a number of groups bought their replacement servers and installed their indigo upgrades support shut down without a replacement. A variety of user instructions for PR2 maintenance by users is still available from their webserver.

Library Overview

1. 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

2. Hardware Drivers and Simulation

Component

ROS package/stack

Actuator Drivers

pr2_controllers

Sensor Drivers

See "Sensor Drivers" below

Simulation (3D)

pr2_simulator

3. 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

4. Sensor Drivers

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

5. 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".

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


2024-06-08 12:38