pr2_mechanism: pr2_controller_interface | pr2_controller_manager | pr2_hardware_interface | pr2_mechanism_diagnostics | pr2_mechanism_model | pr2_mechanism_msgs | realtime_tools

Stack Summary

The pr2_mechanism stack contains the infrastructure to control the PR2 robot in a hard realtime control loop. The main interface to packages in this stack is through C++, but it is possible to interact with controllers through a ROS API. While the stack is currently aimed at controlling the PR2 robot, it should work on most force-controlled robots.

• Author: Maintained by Wim Meeussen
• License: BSD
• Repository: pr2-kforge
• Source: hg https://kforge.ros.org/pr2mechanism/hg

Overview

The pr2_mechanism stack contains useful libraries if you want to write a realtime controller to interact with the PR2 (or similar) robot. These libraries are contained in the following ROS packages:

• pr2_controller_interface: The C++ interface for a realtime controller

• pr2_controller_manager: The infrastructure that allows you to run and manage multiple controllers in a realtime loop

• pr2_hardware_interface: The C++ interface for the PR2 hardware, containing actuators, pressure sensors, accelerometers, digital out and projector interface.

• pr2_mechanism_model: The model of an effort controlled robot, based on the urdf robot description format.

• pr2_mechanism_msgs: Messages used to communicate with the realtime control loop, and messages that contain the state of the realtime controllers, the joints and the actuators.

• realtime_tools: A tool to publish to a ROS topic from realtime.

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