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This package contains the description of the PR2 robot. It supercedes the older pr2_defs package which was written for the alpha hardware.

Package organization

This package contains robot description files for PR2, organized into subdirectories as follows:

• urdf/ 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 urdf/

• gazebo/ contains (xacro representations of) urdf descriptions of simulated PR2 components, like the simulated battery controller.

• meshes/ contains mesh files (.stl,.dae) for visualization and collision properties.

Changes from Alpha URDFs

Some notable changes from pr2_defs:

• updated frame_id: base_laser → base_laser_link (consistent with tilt_laser_link)

• new frame_id: {narrow,wide}_stereo_{l,r}_stereo_camera_optical_frame

• removed frame: plug_holder (might need to add back for plug_in_gazebo to work)

PR2 Coordinate Frames

To see the PR2 URDF graphically, you can¹

rosrun xacro xacro `rospack find pr2_description`/robots/pr2.urdf.xacro > pr2.urdf
urdf_to_graphiz pr2.urdf
evince pr2.pdf

A snapshot (r46956) is attached here for reference.

In general, PR2 URDF contains a tree structured set of links and joints, with base_footprint as the root link of the tree.

Working with a Kinect

To use the original Kinect with the PR2 (either robot or simulation), set the KINECT1 environment variable to true.

export KINECT1=true

To use a Kinect2 with the PR2 (either robot or simulation), set the KINECT2 environment variable to true.

export KINECT2=true

If both variables are set, the Kinect 2 will take precedence over the original Kinect.

CategoryURDF