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Package Summary

Generic Mechanism Controller Library

  • Maintainer status: maintained
  • Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
  • Author: John Hsu, Melonee Wise, Stuart Glaser
  • License: BSD


This package contains the code that runs in realtime to move the mechanisms on the robot. These controllers are not specific to mechanisms on the PR2 and may be useful on other robots.


The controllers in this package should not be used directly. The controllers should instead by used via their action interfaces, e.g., joint_trajectory_action, pr2_gripper_action, pr2_head_action, and single_joint_position_action.

2024-06-08 13:32