## repository: https://code.ros.org/svn/wg-ros-pkg
<<PackageHeader(pr2_defs)>>

== Package Organization ==


This package contains robot description files for PR2, organized into subdirectories as follows:
 * ''calibration/'' contains calibration parameters included by urdf files
 * ''defs/'' contains ([[xacro]] representations of) [[urdf]] descriptions of various parts of the PR2 (arm, torso, etc.)
 * ''robots/'' contains ([[xacro]] representations of) [[urdf]] descriptions of the full robot, that refer to the macros in ''defs/''
 * ''meshes/'' contains mesh files (.stl) for visualization and collision properties
 * ''launch/'' contains [[roslaunch]] files that upload the robot urdf descriptions to the parameter server

== Status and Roadmap (Oct 2009) ==

Note that this package evolved organically, together the the prototype hardware at Willow Garage, and currently includes definitions for a large number of legacy pieces of hardware, as well as specific configurations that currently exist at Willow Garage.  This package is being replaced by a version which properly represents the production hardware before the 1.0 release of this stack: see the [[pr2_description]] package.

== Tutorials ==

No tutorials for this exist right now.  Several of the [[urdf/Tutorials|URDF tutorials]] explain the files in this package in detail.  See also [[robot_model]] and [[simulator_gazebo]].


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