Only released in EOL distros:  


Checks transmissions status of PR2 transmissions.

To do this, it loads the URDF from the robot_description param, and checks that each actuator calibration flag corresponds to the correct joint position. It works for all joints with simple transmissions, and wrist transmissions.

Once a transmission reports invalid data, the "pr2_etherCAT/halt_motors" service will be called. Users must reset motors using the pr2_dashboard.



Publishes joint and controller diagnostics, checks transmissions

Published Topics

~transmission_status (std_msgs/Bool)
  • True if transmissions are OK
/diagnostics (diagnostic_msgs/DiagnosticArray)
  • Publishes output for each transmission


~reset_trans_check (pr2_power_board/PowerBoardCommand2)
  • Reset the transmission status to True

All transmissions will publish diagnostics on last observed position, the joints and actuators, and the number of errors. Joints that have transmission errors will be in error state until reset.

Wiki: pr2_transmission_check (last edited 2010-11-12 02:27:39 by KevinWatts)