How to Use PR2 Realtime Controllers
- Using the low-level robot base controllers to drive the robot
This tutorial teaches you how to start up and control the default robot base controllers (pr2_base_controller and pr2_odometry) directly, rather than at a high level (using move_base).
- Using the base controller with odometry and transform information
We move the robot forward by a specified amount by using the low-level base controller together with transform information from odometry.
- Getting the current joint angles for the PR2
This tutorial shows you how to get the current joint angles for the PR2 robot.
- Moving the arm through a Cartesian pose trajectory using inverse kinematics and the joint trajectory action
This tutorial teaches you how to move the arm through Cartesian pose trajectories using inverse kinematics and low-level joint controllers (the joint_trajectory_action).
- Moving the torso
This tutorial shows you how to move the PR2 torso using the single_joint_position_action.
- Moving the gripper
This tutorial shows you how to move the PR2 gripper using the pr2_gripper_action (an action that runs the gripper controller).
- Moving the head
This tutorial shows you how to set a desired pose of the robot head using the existing head trajectory controller.
- Moving the arm using the Joint Trajectory Action
This tutorial demonstrates moving the arm using the Joint Trajectory Action which is an interface to the lower-level Joint Trajectory Controller.
How to Write Realtime Controllers
- Writing a realtime joint controller
This tutorial teaches you how to write a joint space controller that can be executed in the realtime loop of pr2_controller_manager
- Running a realtime joint controller
This tutorial teaches you how to configure and run an existing joint space controller
- Implementing a realtime Cartesian controller
This tutorial teaches you how to control a robot in Cartesian space
- Communicating with a realtime joint controller
This tutorial teaches you how to communicate with a controller over ROS.
- Adding a PID to a realtime joint controller
This tutorial teaches you how to add a PID object to a realtime joint controller
- Capturing data from a controller
This tutorial teaches you how to store data in a controller and extract it for offline viewing, debugging, and tuning.
- Plotting controller data in matlab or octave
This tutorial teaches you how to visualize the captured state of a controller in matlab or octave.
- Coding a realtime Cartesian controller with KDL
This tutorial gives example code for a realtime Cartesian controller using KDL
- Coding a realtime Cartesian controller with Eigen
This tutorial gives example code for a realtime Cartesian controller using KDL and Eigen
- Writing a realtime Cartesian controller
This tutorial teaches you how to control a robot in Cartesian space
- Running a realtime Cartesian controller
This tutorial teaches you how to configure and run an existing Cartesian space controller
- Incrementally develop and test a controller in simulation.
This tutorial walks you through the process of creating s simple custom controller, incrementally adding functionality to it and testing each step in simulation.
- Simple URDF-Controller Example
This tutorial shows you how to build a simple model with URDF, and how to link it with the controller. In addition, useful tips on building and verifying of the created robot model are given.
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