PR2
The core PR2 packages have been converted to catkin and moved to github.
RQT PR2 Dashboard
The PR2 dashboard has been ported from the old rx tools to the new RQT tools. The new PR2 dashboard can be run with:
rosrun rqt_pr2_dashboard rqt_pr2_dashboard
pr2_etherCAT => pr2_ethercat
Due to naming restrictions, pr2_etherCAT is now pr2_ethercat. This affects everything: package names, node names and topic names.
Topics
pr2_etherCAT/motors_halted is deprecated in favor of pr2_ethercat/motors_halted. The old topic name will exist in Hydro for compatibility with old version of the dashboard.
Services
/pr2_etherCAT/* services are now /pr2_ethercat/*. The old services may exist in Hydro and will be removed in a future release.
/pr2_ethercat/halt_motors
/pr2_ethercat/publish_trace
/pr2_ethercat/reset_motors
pr2_mechanism_model
pr2_mechanism_model has been updated for the new pluginlib; as a result, pr2_mechanism_model::Robot::getTransmission() now returns a boost::shared_ptr<Transmission> instead of a Transmission*
Controllers and RPath
Controllers should use RPath when linking to other dynamic libraries, since the realtime loop often does not have access to the LD_LIBRARY_PATH variable. This can be done with the pr2_enable_rpath() CMake function from pr2_hardware_interface (also available transitively through pr2_controller_interface, pr2_mechanism_model and ethercat_hardware).
For example:
find_package(catkin REQUIRED COMPONENTS pr2_controller_interface)
...
add_library(${PROJECT_NAME} ... )
pr2_enable_rpath(${PROJECT_NAME})
Arm Navigation
pr2_arm_navigation is no longer maintained, and there are no plans to release it into Hydro. Please use MoveIt instead.
Web interface
The web_interface stack is no longer maintained, and there are no plans to release it into Hydro. This means that the pr2_web_apps stack/package will not be moved forward into Hydro.
Kinematics
pr2_kinematics has been updated and re-based off of MoveIt! libraries and headers.
kinematics_msgs has been deprecated and its messages can be found instead inside the moveit_msgs package.
- pr2_arm_kinematics_constraint_aware has been deprecated and is now obsolete due to non-use and no maintenance on its dependencies.
Package Location
The repositories for the code of the PR2 have slowly been collected and are moving to Github. At this time, the Non-ROS Debian source code future location is undetermined, but is residing at https://code.ros.org/trac/pr2debs/