README.md

iai_pr2

Installation, configuration, and launch files specific to IAI's PR2 robot.

Explanation of different model versions

• pr2_calibrated_with_ft2.xml is the current model of the PR2 with the force torque sensor. The model is similar to /etc/ros/indigo/urdf/robot.xml on pr2a except for additional mimic joints.
• pr2_with_ft2_cableguide.xacro is the current model of the PR2 with the force torque sensor and the cable guide made of item profiles. This model is derived from pr2_calibrated_with_ft2.xml.

The simulation launch files with _cableguide in the name also use the new model with the cable guide and are based on the similar named launch files with or without odom joints.

The real robot uses its own model and launch file stored at /etc/ros/indigo/ on pr2a. The launch file iai_pr2_bringup/launch/robot.launch is derived from the launch file /etc/ros/indigo/robot.launch on pr2a. Both include the force torque sensor but not the cable guide.

The launch iai_pr2_bringup/launch/robot_with_cableguide.launch is derived from iai_pr2_bringup/launch/robot.launch and uses the new model with cable guide.