Hi all,

I am trying to go through the following tutorial:
http://www.ros.org/wiki/pr2_mechanism/Tutorials/Coding%20a%20realtime%20Cartesian%20controller%20with%20Eigen. 
It seems, however, that the following is missing in the pr2_mechanism_model
package: kinematichelpers.h 
I use Cturtle, downloaded in the beginning of august.

Is this tutorial outdated or am I missing something?

Sincere thanks,

Bert



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