This package contains a controller that tries to move around obstacle dynamically. In order to load the controller you have to unload the currently running controller.

rosrun pr2_controller_manager pr2_controller_manager kill l_arm_controller r_arm_controller

The controller needs an environment server and IK/FK solvers to find a way around things in the way.

roslaunch reactive_trajectory_controller reactive_trajectory_controller_environment.launch

Now everything is prepared for loading and starting the controller for both arms

roslaunch reactive_trajectory_controller reactive_trajectory_controller.launch

The controller can be used under whatever application that moves the arms around for example the teleop in pr2_arm_teleop_skin