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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.
- Author: John Hsu, Eric Berger
- License: BSD
- Repository: wg-ros-pkg
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_common/tags/pr2_common-1.4.5
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.
- Author: John Hsu, Eric Berger
- License: BSD
- Source: git https://github.com/PR2/pr2_common.git (branch: pr2_common-1.6)
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.
- Author: John Hsu, Eric Berger
- License: BSD
- Source: git https://github.com/PR2/pr2_common.git (branch: fuerte-devel)
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.
- Author: John Hsu, Eric Berger
- License: BSD
- Source: git https://github.com/PR2/pr2_common.git (branch: groovy-devel)
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.
- Maintainer status: maintained
- Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
- Author: John Hsu, Eric Berger, Austin Hendrix
- License: BSD
- Bug / feature tracker: https://github.com/PR2/pr2_common/issues
- Source: git https://github.com/PR2/pr2_common.git (branch: hydro-devel)
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.
- Maintainer status: maintained
- Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
- Author: John Hsu, Eric Berger, Austin Hendrix
- License: BSD
- Bug / feature tracker: https://github.com/PR2/pr2_common/issues
- Source: git https://github.com/pr2/pr2_common.git (branch: indigo-devel)
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.
- Maintainer status: maintained
- Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
- Author: John Hsu, Eric Berger, Austin Hendrix
- License: BSD
- Bug / feature tracker: https://github.com/PR2/pr2_common/issues
- Source: git https://github.com/pr2/pr2_common.git (branch: indigo-devel)
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.
- Maintainer status: unmaintained
- Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
- Author: John Hsu, Eric Berger, Austin Hendrix
- License: BSD
- Bug / feature tracker: https://github.com/PR2/pr2_common/issues
- Source: git https://github.com/pr2/pr2_common.git (branch: kinetic-devel)
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.
- Maintainer status: maintained
- Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
- Author: John Hsu, Eric Berger, Austin Hendrix
- License: BSD
- Bug / feature tracker: https://github.com/PR2/pr2_common/issues
- Source: git https://github.com/pr2/pr2_common.git (branch: kinetic-devel)
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.
- Maintainer status: unmaintained
- Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
- Author: John Hsu, Eric Berger, Austin Hendrix
- License: BSD
- Bug / feature tracker: https://github.com/PR2/pr2_common/issues
- Source: git https://github.com/pr2/pr2_common.git (branch: melodic-devel)
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.
- Maintainer status: unmaintained
- Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
- Author: John Hsu, Eric Berger, Austin Hendrix
- License: BSD
- Bug / feature tracker: https://github.com/PR2/pr2_common/issues
- Source: git https://github.com/pr2/pr2_common.git (branch: melodic-devel)
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 → 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 can1
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 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.
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. (1)