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pr2_common: pr2_dashboard_aggregator | pr2_description | pr2_machine | pr2_msgs

Package Summary

This package contains the description (mechanical, kinematic, visual, etc.) of the PR2 robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

pr2_common: pr2_dashboard_aggregator | pr2_description | pr2_machine | pr2_msgs

Package Summary

This package contains the description (mechanical, kinematic, visual, etc.) of the PR2 robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

pr2_common: pr2_dashboard_aggregator | pr2_description | pr2_machine | pr2_msgs

Package Summary

This package contains the description (mechanical, kinematic, visual, etc.) of the PR2 robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

pr2_common: pr2_dashboard_aggregator | pr2_description | pr2_machine | pr2_msgs

Package Summary

This package contains the description (mechanical, kinematic, visual, etc.) of the PR2 robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

pr2_common: pr2_dashboard_aggregator | pr2_description | pr2_machine | pr2_msgs

Package Summary

This package contains the description (mechanical, kinematic, visual, etc.) of the PR2 robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

pr2_common: pr2_dashboard_aggregator | pr2_description | pr2_machine | pr2_msgs

Package Summary

This package contains the description (mechanical, kinematic, visual, etc.) of the PR2 robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

pr2_common: pr2_dashboard_aggregator | pr2_description | pr2_machine | pr2_msgs

Package Summary

This package contains the description (mechanical, kinematic, visual, etc.) of the PR2 robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

pr2_common: pr2_dashboard_aggregator | pr2_description | pr2_machine | pr2_msgs

Package Summary

This package contains the description (mechanical, kinematic, visual, etc.) of the PR2 robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

pr2_common: pr2_dashboard_aggregator | pr2_description | pr2_machine | pr2_msgs

Package Summary

This package contains the description (mechanical, kinematic, visual, etc.) of the PR2 robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

pr2_common: pr2_dashboard_aggregator | pr2_description | pr2_machine | pr2_msgs

Package Summary

This package contains the description (mechanical, kinematic, visual, etc.) of the PR2 robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

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:

Changes from Alpha URDFs

Some notable changes from pr2_defs:

PR2 Coordinate Frames

To see the PR2 URDF graphically, you can1

rosrun xacro xacro.py `rospack find pr2_description`/robots/pr2.urdf.xacro > pr2.urdf
rosrun urdf urdf_to_graphiz pr2.urdf
evince pr2.pdf

A snapshot (r46956) is attached 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.


CategoryURDF

  1. Starting with Electric Turtle, check_urdf and urdf_to_graphiz has been moved from urdf into urdf_parser (1)


2019-06-22 13:00