The bosch_proximity_sensor_applications stack contains applications that can be used with the PR2 robot. The stack depends strongly on the bosch_proximity_sensor stack that provides the basic functionalities.
pr2_arm_teleop_skin contains two teleops that implement a way of dynamic obstacle avoidance.
One of the teleops is meant to be used together with the reactive_trajectory_controller package that contains a joint controller that is able to find a way around moving or suddenly appearing obstacles.
The pr2_calib_proximity_sensor package contains nodes for calibrating the proximity sensor on an arm of the robot.
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