pr2_controllers: control_toolbox | ethercat_trigger_controllers | joint_trajectory_action | pr2_calibration_controllers | pr2_controllers_msgs | pr2_gripper_action | pr2_head_action | pr2_mechanism_controllers | robot_mechanism_controllers | single_joint_position_action

Stack Summary

Contains the controllers that run in realtime on the PR2 and supporting packages.

• Author: Stuart Glaser sglaser@willowgarage.com
• License: BSD
• Repository: wg-ros-pkg
• Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_controllers/branches/pr2_controllers-1.4

Overview

The pr2_controllers stack has the components which must run in the realtime loop of the PR2, components which communicate with the realtime controllers, and a few supporting packages. Realtime controllers run in the pr2_controller_manager at a guaranteed update rate and are used for moving the mechanism and triggering sensing components. The supporting nodes provide a more user-friendly interface to the realtime components, often providing notification on success or failure of commands.

A full set of controllers and supporting nodes has been configured to come up on the PR2 by default. See pr2/Tutorials for instruction on how to use them.

Packages

Useful utility functions and classes:

• control_toolbox

Messages for communicating with controllers:

• pr2_controllers_msgs

• trajectory_msgs

Controllers that run in realtime on the robot:

• robot_mechanism_controllers

• pr2_mechanism_controllers

• ethercat_trigger_controllers

• pr2_calibration_controllers

Nodes that provide action interfaces to controllers:

• joint_trajectory_action

• pr2_gripper_action

• pr2_head_action

• single_joint_position_action

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