PR2 Base Controller [closed]

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Hi all,

I would like to get some insight about how the PR2 base controller works. Regarding the same topic, a question was raised previously with the title "PR2 base controller algorithm" but the answers do not provide adequate information.

In addition I would to like get clarified some of other questions I have:

i) when a commanding velocity is set by an external node, as in http://www.ros.org/wiki/pr2_controlle... , first the caster steer direction is changed and then the wheel velocity is applied, is that right?

ii) I could not find any position controller to change the caster steering in the pr2_base_controller2 code.

Thank you in advance

CS