Only released in EOL distros:   electric fuerte groovy

Note that these launch files do not include sensor data processing, an implementation of which can be found in tabletop_object_perception. Launch files combining manipulation (as contained here) and perception can be found in pr2_tabletop_manipulation_launch. Once started, the manipulation pipeline is ready to serve requests for tasks such as object pickup and placing.

PR2 Gripper Hand Description

This package also contains configuration files with the description of a PR2 arm equipped with a gripper as needed by the manipulation pipeline. The format of an arm/hand description is documented in the object_manipulator page. Here is an example of such a configuration file:

hand_description:
  right_arm:
    hand_frame: r_wrist_roll_link
    robot_frame: base_link
    attached_objects_name: attached
    attach_link: r_gripper_r_finger_tip_link
    hand_group_name: r_end_effector
    arm_group_name: right_arm
    hand_database_name: WILLOW_GRIPPER_2010
    hand_joints: [r_gripper_l_finger_joint,r_gripper_r_finger_joint,r_gripper_r_finger_tip_joint,r_gripper_l_finger_tip_joint]
    hand_touch_links: [r_gripper_palm_link,r_gripper_r_finger_tip_link,r_gripper_l_finger_tip_link,r_gripper_l_finger_link,r_gripper_r_finger_link]
    hand_fingertip_links: [r_gripper_r_finger_tip_link,r_gripper_l_finger_tip_link]
    hand_approach_direction: [1.0,0.0,0.0]
  left_arm:
    hand_frame: l_wrist_roll_link
    robot_frame: base_link
    attached_objects_name: attached
    attach_link: l_gripper_r_finger_tip_link
    hand_group_name: l_end_effector
    arm_group_name: left_arm
    hand_database_name: WILLOW_GRIPPER_2010
    hand_joints: [l_gripper_l_finger_joint,l_gripper_r_finger_joint,l_gripper_r_finger_tip_joint,l_gripper_l_finger_tip_joint]
    hand_touch_links: [l_gripper_palm_link,l_gripper_r_finger_tip_link,l_gripper_l_finger_tip_link,l_gripper_l_finger_link,l_gripper_r_finger_link]
    hand_fingertip_links: [l_gripper_r_finger_tip_link,l_gripper_l_finger_tip_link]
    hand_approach_direction: [1.0,0.0,0.0]

Running the Manipulation Pipeline

To launch the manipulation pipeline and execute pickup and place tasks using the PR2 robot, tutorials and launch files are provided in pr2_tabletop_manipulation_apps.