pr2_controllers: control_toolbox | ethercat_trigger_controllers | joint_trajectory_action | pr2_calibration_controllers | pr2_controllers_msgs | pr2_gripper_action | pr2_head_action | pr2_mechanism_controllers | robot_mechanism_controllers | single_joint_position_action | trajectory_msgs
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Stack Summary
Contains the controllers that run in realtime on the PR2 and supporting packages.
- Author: Stuart Glaser sglaser@willowgarage.com
- License: BSD
- Repository: wg-ros-pkg (https://code.ros.org/svn/wg-ros-pkg)
Overview
The pr2_controllers stack has the components which must run in the realtime loop of the PR2, components which communicate with the realtime controllers, and a few supporting packages. Realtime controllers run in the pr2_controller_manager at a guaranteed update rate and are used for moving the mechanism and trigering sensing components. The supporting nodes provide a more user-friendly interface to the realtime components, often providing notification on success or failure of commands.
A full set of controllers and supporting nodes has been configured to come up on the PR2 by default. See pr2/Tutorials for instruction on how to use them.
Packages
Useful utility functions and classes:
Messages for communicating with controllers:
Controllers that run in realtime on the robot:
Nodes that provide action interfaces to controllers:
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