Only released in EOL distros:  

Package Summary

An extension of the PR2 props demo, but instead of high fives, the PR2 swings a lightsaber until it detects an impact.

  • Maintainer status: maintained
  • Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
  • Author: David V. Lu!!
  • License: BSD
  • Source: git (branch: hydro-devel)


One of the great things about working on ROS is the ability to see everyone else's code. So when Joe Romano create the pr2_props demo, I was able to take it apart and see how it worked. The basic idea was to

  • Move the arm to a designated pose
  • Begin moving the arm to another pose
  • If an acceleration is detected in the wrist accelerometer, stop.
  • Repeat as necessary

This, along with Stanford's Demo gave me an idea. Essentially, what if you did the same exact demo, with slightly different arm positions, and a plastic lightsaber in the robots hand.


While the original pr2_props was written in C++, I converted the whole thing to be Python in a slightly more modular way. All of the arm positions are saved and loaded from yaml files.


The launch file duel_with_setup will move the PR2's arm to its side, and open the gripper. Place the lightsaber in the PR2's gripper pointing up and press enter.

Cute Video

Wiki: pr2_sith (last edited 2012-06-13 08:36:40 by DavidLu)