PR2

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.

Contents

Installation

No instructions are provided beyond ROS Indigo, but PR2 robots are known to run with ROS Melodic (with efforts to migrate to Noetic as of Jan 2022)
ROS Indigo Release (recommended)
ROS Hydro Release
ROS Groovy Release
ROS fuerte Release
ROS Electric Release
ROS Diamondback Release
ROS C Turtle Release
ROS Unstable Release

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".

Related Repositories

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