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Hardware components

The PR2 hardware interface provides a C++ abstraction layer for the PR2 hardware that is controlled over the etherCAT link that runs through the robot. Most users should not have to deal directly with this interface. If you are only interested in controlling the robot joints, you should directly interact with pr2_mechanism_model. Only very advanced users that need direct access to the hardware should be using the PR2 hardware interface.

2024-06-22 13:13