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PR2 base controller algorithm

asked 2011-04-11 19:18:07 -0600

gazkune gravatar image

updated 2011-06-17 11:28:20 -0600

kwc gravatar image


I am using the PR2 base controller algorithm for another robotic platform. So far, the algorithm works perfectly for me, but I would like to know whether there is any documentation about how it works, how it calculates wheel angles and velocities and whether it can be used for an arbitrary number of wheels.

Thanks in advance!

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answered 2011-04-13 12:55:07 -0600

Sachin Chitta gravatar image

Hi Gazkune,

This is very interesting! Could you please send me a pointer to some movies of your platform. I can put together a brief technical report for you on how everything works on the PR2 but it won't be until a couple of weeks at the earliest if that's ok with you.

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Hi Sachin. Do you have any new about the brief technical report you mentioned? I would be very happy to hear about you. Thanks in advance!
gazkune gravatar image gazkune  ( 2011-06-18 08:17:17 -0600 )edit

answered 2011-04-11 20:21:20 -0600

Guido gravatar image

Hi Gazkune,

I don't found any documentation about the intern algorithms running in the base controller. But you can still take a look at {ROS_STACKS}/pr2_controllers/pr2_mechanism_controller/src/pr2_base_controller.cpp {ROS_STACKS}/pr2_controllers/pr2_mechanism_controller/src/pr2_base_controller2.cpp

In these files you will see two functions: computeDesiredCasterSteer. computeDesiredWheelSpeeds. I think they describe what you are seeking.

Moreover, as far as I can see, this code is not dependent on the number of wheels.

Hope this helps,


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answered 2011-04-14 01:50:24 -0600

gazkune gravatar image

Thank you Sachin! I would really appreciate your brief technical report. As far as the platform regards, we still don't have the real version, but I can send you two videos of the initial simulations in Gazebo, with 4 and 6 wheels: and The platform is big and heavy. Please do not hesitate on asking me for more information.

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Hi, is there any possibility to have the technical report on the pr2 base controller? And, if it is possible I would like to have a look at your source code of your implementation for the base controller, URDF as well as the action server. Thank you.
ChickenSoup gravatar image ChickenSoup  ( 2011-10-28 11:31:09 -0600 )edit

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Asked: 2011-04-11 19:18:07 -0600

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Last updated: Apr 14 '11