= PR2 Tabletop Manipulation Apps =

== Overview ==

This page explains how to run and call the complete Manipulation Pipeline on the PR2 robot.

Combines manipulation functionality from the [[object_manipulation]] and [[pr2_object_manipulation]] stacks. In particular, sensor processing comes from the [[tabletop_object_detector]] package, and database interface from [[household_objects_database]]. 

{{attachment:grasp.png}}

== Running the Manipulation Pipeline ==

Please see the tutorials:

<<FullSearchWithDescriptionsCS(title:"pr2_tabletop_manipulation_apps/Tutorials/")>>

After going through the tutorials above, you can find additional examples, as well as details on how to run them, in the [[pr2_pick_and_place_demos]] package.

== Manipulation Pipeline Installation ==

=== Standard installation ===

We recommend getting the ros-*-pr2-interactive-manipulation variant of ROS for the complete set of tools for the manipulation pipeline. For example, for ROS Fuerte, the command is:
{{{
sudo apt-get install ros-fuerte-pr2-interactive-manipulation
}}}

=== Source code checkout, unstable versions ===

If you are doing active development on one of the stacks in the pipeline, or need an experimental feature that has not yet been released, we recommend getting the source code for the following two stacks: [[object_manipulation]], [[pr2_object_manipulation]].

WARNING: the code version is not guaranteed to be stable or fully functional!

== Report a Bug ==

<<TracLink(wg-ros-pkg object_manipulation)>>