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.

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

Basic Configuration

Hardware Drivers and Simulation

High-Level Capabilities

Sensor Drivers

The PR2 sensor drivers are distributed with the ROS sensor stacks:

• camera_drivers

• imu_drivers

• laser_drivers

• sound_drivers

• pr2_ethercat_drivers

• pr2_power_drivers

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.

• wg-ros-pkg

• alufr-ros-pkg

• berkeley-ros-pkg

• bosch-ros-pkg

• gt-ros-pkg

• jsk-ros-pkg

• kul-ros-pkg

• mit-ros-pkg

• tum-ros-pkg

• usc-ros-pkg

• stanford-ros-pkg

• penn-ros-pkg