Documentation Status

pr2_controllers: control_toolbox | ethercat_trigger_controllers | joint_trajectory_action | pr2_calibration_controllers | pr2_controllers_msgs | pr2_gripper_action | pr2_head_action | pr2_mechanism_controllers | robot_mechanism_controllers | single_joint_position_action

Package Summary

Released Continuous integration Documented

Contains the controllers that run in realtime on the PR2 and supporting packages.

  • Maintainer status: maintained
  • Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
  • Author: Stuart Glaser
  • License: BSD
  • Source: git (branch: hydro-devel)
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electric files are no longer on svn, they can be found here:

fuerte files are no longer on svn, they can be found here:

groovy files are no longer on svn, they can be found here:


The pr2_controllers stack has the components which must run in the realtime loop of the PR2, components which communicate with the realtime controllers, and a few supporting packages. Realtime controllers run in the pr2_controller_manager at a guaranteed update rate and are used for moving the mechanism and triggering sensing components. The supporting nodes provide a more user-friendly interface to the realtime components, often providing notification on success or failure of commands.

A full set of controllers and supporting nodes has been configured to come up on the PR2 by default. See pr2/Tutorials for instruction on how to use them.


Useful utility functions and classes:

Messages for communicating with controllers:

Controllers that run in realtime on the robot:

Nodes that provide action interfaces to controllers:

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Wiki: pr2_controllers (last edited 2014-08-19 19:53:49 by IliaBaranov)