## page was renamed from mechanism <> == 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. == Report a Bug == Report new issues on [[https://github.com/PR2/pr2_mechanism/issues|Github]] ## CategoryStack ## CategoryStackWG ## M3Stack