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

Package 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.

pr2_mechanism: pr2_controller_interface | pr2_controller_manager | pr2_hardware_interface | pr2_mechanism_diagnostics | pr2_mechanism_model

Package 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.

pr2_mechanism: pr2_controller_interface | pr2_controller_manager | pr2_hardware_interface | pr2_mechanism_diagnostics | pr2_mechanism_model

Package Summary

The pr2_mechanism stack contains the infrastructure to control the PR2 robot in a hard realtime control loop.

  • Maintainer status: maintained
  • Maintainer: Austin Hendrix <ahendrix AT willowgarage DOT com>
  • Author: Maintained by Wim Meeussen
  • License: BSD
  • Source: git https://github.com/PR2/pr2_mechanism.git (branch: hydro-devel)
pr2_mechanism: pr2_controller_interface | pr2_controller_manager | pr2_hardware_interface | pr2_mechanism_diagnostics | pr2_mechanism_model

Package Summary

The pr2_mechanism stack contains the infrastructure to control the PR2 robot in a hard realtime control loop.

pr2_mechanism: pr2_controller_interface | pr2_controller_manager | pr2_hardware_interface | pr2_mechanism_diagnostics | pr2_mechanism_model

Package Summary

The pr2_mechanism stack contains the infrastructure to control the PR2 robot in a hard realtime control loop.

  • Maintainer status: maintained
  • Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
  • Author: Wim Meeussen
  • License: BSD
pr2_mechanism: pr2_controller_interface | pr2_controller_manager | pr2_hardware_interface | pr2_mechanism_diagnostics | pr2_mechanism_model

Package Summary

The pr2_mechanism stack contains the infrastructure to control the PR2 robot in a hard realtime control loop.

  • Maintainer status: unmaintained
  • Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
  • Author: Wim Meeussen
  • License: BSD
  • Source: git https://github.com/pr2/pr2_mechanism.git (branch: kinetic-devel)
pr2_mechanism: pr2_controller_interface | pr2_controller_manager | pr2_hardware_interface | pr2_mechanism_diagnostics | pr2_mechanism_model

Package Summary

The pr2_mechanism stack contains the infrastructure to control the PR2 robot in a hard realtime control loop.

  • Maintainer status: unmaintained
  • Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
  • Author: Wim Meeussen
  • License: BSD
  • Source: git https://github.com/pr2/pr2_mechanism.git (branch: kinetic-devel)
pr2_mechanism: pr2_controller_interface | pr2_controller_manager | pr2_hardware_interface | pr2_mechanism_diagnostics | pr2_mechanism_model

Package Summary

The pr2_mechanism stack contains the infrastructure to control the PR2 robot in a hard realtime control loop.

  • Maintainer status: unmaintained
  • Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
  • Author: Wim Meeussen
  • License: BSD
  • Source: git https://github.com/pr2/pr2_mechanism.git (branch: melodic-devel)

概観

もしあなたがリアルタイムコントローラーを PR2 の(あるいは類似の)ロボットとについて相互作用するよう書くことを望むなら、"pr2_mechanism"スタックは有益なライブラリを含みます。 これらのライブラリは次の ROS パッケージに含まれます:

  • ja/pr2_controller_interface: リアルタイムコントローラーのための C++ インタフェース

  • ja/pr2_controller_manager: リアルタイムループで並列のコントローラーを動かして、そして管理することを可能にするインフラ

  • ja/pr2_hardware_interface: アクチュエータ、圧力センサー、加速度計、デジタル出力とプロジェクタインタフェースを含む、 PR2 ハードウェアのための C++ インタフェース。

  • ja/pr2_mechanism_model: urdfロボット記述フォーマットに基づく、 Effort によって制御されるロボットのモデル

  • ja/pr2_mechanism_msgs: Joint とアクチュエータとリアルタイムコントローラーの状態を含むメッセージ、リアルタイムコントロールループとコミュニケートするために使われるメッセージ

  • ja/realtime_tools:リアルタイムから ROS トピックへ配信するツール

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Wiki: ja/pr2_mechanism (last edited 2016-08-13 04:56:09 by Crescent)