## repository: https://code.ros.org/svn/wg-ros-pkg
<<PackageHeader(pr2_description)>>

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` &rarr; `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 can<<FootNote(Starting with Electric Turtle, check_urdf and urdf_to_graphiz has been moved from [[urdf]] into [[urdf_parser]]. Since Groovy, the functionality of [[urdf_parser]] has been moved to [[urdfdom]].)>>
{{{
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 [[attachment:pr2_description/pr2.pdf|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.
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## CategoryPackage
## CategoryPackageWG
[[CategoryURDF]]