robot (PR2) physical information

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Hello

I've been working with lasers for laser avoidance, and because of the Eigen/Core bug, I skipped using a Laser projector and did the computation of tilt scan into base scan by hand. Rotation is ok, I still need to translate my data between frames (robot tilt height to robot base height, etc.). So I would know if a physical description of the robot (base width, length of joints) is available or I should define myself the distances I need (by measuring, which is the worst solution).

Of course, if you are able to answer my question on Eigen/Core, that would be the best option, imho.

Thanks, Erwan