Documentation Status

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

Package Summary

Documented

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

Documented

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

Documented

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

Released Continuous integration Documented

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

Released Continuous integration Documented

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

Package Summary

Released Continuous integration No API documentation

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
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Overview

The pr2_mechanism stack contains useful libraries if you want to write a realtime controller to interact with the PR2 (or similar) robot. These libraries are contained in the following ROS packages:

  • pr2_controller_interface: The C++ interface for a realtime controller

  • pr2_controller_manager: The infrastructure that allows you to run and manage multiple controllers in a realtime loop

  • pr2_hardware_interface: The C++ interface for the PR2 hardware, containing actuators, pressure sensors, accelerometers, digital out and projector interface.

  • pr2_mechanism_model: The model of an effort controlled robot, based on the urdf robot description format.

  • pr2_mechanism_msgs: Messages used to communicate with the realtime control loop, and messages that contain the state of the realtime controllers, the joints and the actuators.

  • realtime_tools: A tool to publish to a ROS topic from realtime.

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Wiki: pr2_mechanism (last edited 2013-03-12 21:01:41 by AustinHendrix)