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I don't know if there was ever an ISO image for the PR2 or basestation - I think we might have just installed regular old Ubuntu (probably server edition) and then installed a bunch of custom debians. I'm not sure where those debians might be hosted today - but the sources are here: https://github.com/pr2-debs/pr2-basestation. That whole organization has a bunch of deb sources for the robot as well.