Only released in EOL distros:  

Overview

This package contains configuration files for the components of the arm navigation stacks. These files configure the nodes in the stack specifically for the PR2 robot. In particular, the config directory in this package contains three files:

  • collision_checks_both_arms.yaml - This file sets up the collision environment for the robot using ordered collision operations. See the planning_environment package for more information. Also, see planning_environment/YAML configuration for more information.

  • joint_limits.yaml - This file sets up the joint limits information for the PR2 robot. This information is used by the motion planners and also by the trajectory filters. See joint limit configuration for more details on configuring this file.

  • planning_groups.yaml - This file contains definitions of groups. Groups are essentially a collection of joints and links that make it easier to work with the PR2 robot. See the planning_environment package for more information. Also, see planning_environment/YAML configuration for more information.

Stability

  1. ROS API is UNREVIEWED and UNSTABLE.

Wiki: pr2_arm_navigation_config (last edited 2010-05-13 14:16:40 by AdolfoRodriguez)