<<TOC(4)>> ''Source code for all the tutorials presented here and most of the configuration files for the tutorials can also be found in the [[pr2_arm_navigation_tutorials|pr2_arm_navigation_tutorials]] package.'' == Automatically configuring and using arm navigation (Electric) == <<FullSearchWithDescriptionsCS(title:"arm_navigation/Tutorials/tools")>> == Using the Planning Scene architecture (Electric) == <<FullSearchWithDescriptionsCS(title:"arm_navigation/Tutorials/Planning Scene/")>> == Moving the PR2 robot arm using motion planning (Diamondback and Electric) == This set of tutorials will show you how to move the PR2 robot arm to cartesian and joint goal positions while avoiding collisions (all sections are taken from the tutorial of [[move_arm|move_arm]]). <<FullSearchWithDescriptionsCS(title:"move_arm/Tutorials/")>> == Using kinematics for the PR2 robot arm (Diamondback and Electric) == This set of tutorials will show you how to compute kinematics for the PR2 arms. These tutorials also show an example of how the motion_planning_environment can be used for checking collisions. <<FullSearchWithDescriptionsCS(title:"pr2_kinematics/Tutorials/")>> == Environment representation for motion planning (Diamondback) == This set of tutorials will show you how to create and use an environment representation for motion planning. The environment representation contains a robot, objects that are sensed in the world or inserted manually into the environment and a collision representation of the world. <<FullSearchWithDescriptionsCS(title:"motion_planning_environment/Tutorials/")>> == ''Safe'' trajectory control for the PR2 arms (Diamondback) == This set of tutorials will show you how to execute desired trajectories on the PR2 arms in a ''safe'' manner. <<FullSearchWithDescriptionsCS(title:"collision_free_arm_trajectory_controller/Tutorials/")>> == Filtering trajectories using the trajectory filter node (Diamondback) == The motion plans that are output from motion planners are often not very smooth. They need to be further filtered before they can be sent out to a controller with the expectation of achieving good tracking. This set of tutorials will show you how to use a trajectory filter node to filter joint trajectories. <<FullSearchWithDescriptionsCS(title:"trajectory_filters/Tutorials/")>> == Visualizing robot state and trajectories (Diamondback) == This set of tutorials will show you how to visualize the state and trajectories of the robot using the rviz visualizer. <<FullSearchWithDescriptionsCS(title:"motion_planning_rviz_plugin/Tutorials/")>> == Use cases == <<FullSearchWithDescriptionsCS(title:"arm_navigation/Tutorials/")>> '''Create a new tutorial:''' <<NewPage(TutorialTemplate,Enter tutorial name,arm_navigation/Tutorials,%s)>>