├── .gitignore ├── .travis.yml ├── README.md ├── ethercat_trigger_controllers ├── CHANGELOG.rst ├── CMakeLists.txt ├── controller_plugins.xml ├── include │ └── ethercat_trigger_controllers │ │ ├── multi_trigger_controller.h │ │ ├── projector_controller.h │ │ └── trigger_controller.h ├── mainpage.dox ├── msg │ ├── MultiWaveform.msg │ └── MultiWaveformTransition.msg ├── package.xml ├── src │ ├── multi_trigger_controller.cpp │ ├── projector_controller.cpp │ └── trigger_controller.cpp └── srv │ ├── SetMultiWaveform.srv │ └── SetWaveform.srv ├── joint_trajectory_action ├── CHANGELOG.rst ├── CMakeLists.txt ├── package.xml └── src │ └── joint_trajectory_action.cpp ├── pr2_calibration_controllers ├── CHANGELOG.rst ├── CMakeLists.txt ├── controller_plugins.xml ├── include │ └── pr2_calibration_controllers │ │ ├── caster_calibration_controller.h │ │ ├── fake_calibration_controller.h │ │ ├── gripper_calibration_controller.h │ │ ├── joint_calibration_controller.h │ │ └── wrist_calibration_controller.h ├── mainpage.dox ├── package.xml └── src │ ├── caster_calibration_controller.cpp │ ├── fake_calibration_controller.cpp │ ├── gripper_calibration_controller.cpp │ ├── joint_calibration_controller.cpp │ └── wrist_calibration_controller.cpp ├── pr2_controllers ├── CHANGELOG.rst ├── CMakeLists.txt └── package.xml ├── pr2_controllers_msgs ├── CHANGELOG.rst ├── CMakeLists.txt ├── action │ ├── JointTrajectory.action │ ├── PointHead.action │ ├── Pr2GripperCommand.action │ └── SingleJointPosition.action ├── mainpage.dox ├── msg │ ├── JointControllerState.msg │ ├── JointControllerStateArray.msg │ ├── JointTrajectoryControllerState.msg │ └── Pr2GripperCommand.msg ├── package.xml └── srv │ ├── QueryCalibrationState.srv │ └── QueryTrajectoryState.srv ├── pr2_gripper_action ├── CHANGELOG.rst ├── CMakeLists.txt ├── mainpage.dox ├── package.xml └── src │ └── pr2_gripper_action.cpp ├── pr2_head_action ├── CHANGELOG.rst ├── CMakeLists.txt ├── head_action.launch ├── package.xml └── src │ └── pr2_point_frame.cpp ├── pr2_mechanism_controllers ├── CHANGELOG.rst ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── controller_plugins.xml ├── doc.dox ├── include │ └── pr2_mechanism_controllers │ │ ├── base_kinematics.h │ │ ├── caster_controller.h │ │ ├── laser_scanner_traj_controller.h │ │ ├── pr2_base_controller.h │ │ ├── pr2_base_controller2.h │ │ ├── pr2_gripper_controller.h │ │ ├── pr2_odometry.h │ │ └── trajectory.h ├── msg │ ├── BaseControllerState.msg │ ├── BaseControllerState2.msg │ ├── BaseOdometryState.msg │ ├── DebugInfo.msg │ ├── Odometer.msg │ ├── OdometryMatrix.msg │ └── TrackLinkCmd.msg ├── package.xml ├── scripts │ ├── control_base_position.py │ ├── control_base_position_ground_truth.py │ ├── control_laser.py │ ├── pointhead.py │ ├── send_laser_traj_cmd_ms2.py │ ├── send_periodic_cmd.py │ └── send_periodic_cmd_srv.py ├── src │ ├── base_kinematics.cpp │ ├── caster_controller.cpp │ ├── laser_scanner_traj_controller.cpp │ ├── pr2_base_controller.cpp │ ├── pr2_base_controller2.cpp │ ├── pr2_gripper_controller.cpp │ ├── pr2_odometry.cpp │ └── trajectory.cpp ├── srv │ └── SetProfile.srv └── test │ ├── test_arm_trajectory_controller.cpp │ ├── test_base_controller.cpp │ ├── test_joint_trajectory_controller.cpp │ ├── test_odom.cpp │ ├── test_run_base_controller.cpp │ └── test_whole_body_controller.cpp ├── robot_mechanism_controllers ├── CHANGELOG.rst ├── CMakeLists.txt ├── controller_plugins.xml ├── doc.dox ├── include │ └── robot_mechanism_controllers │ │ ├── cartesian_pose_controller.h │ │ ├── cartesian_twist_controller.h │ │ ├── cartesian_wrench_controller.h │ │ ├── joint_effort_controller.h │ │ ├── joint_group_velocity_controller.h │ │ ├── joint_position_controller.h │ │ ├── joint_spline_trajectory_controller.h │ │ ├── joint_trajectory_action_controller.h │ │ ├── joint_velocity_controller.h │ │ └── jt_cartesian_controller.h ├── msg │ └── JTCartesianControllerState.msg ├── package.xml ├── posture.py ├── 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