Thanks for the reply John. Clarification inline...
The last thing that concerns me is the PR2 specific extensions. I'm not exactly clear what they lend to the PR2, but I'm also not clear why they wouldn't apply to other robots.
can you please clarify your concern? (e.g. package/stack names? etc.)
In general, a lot of the software packages may work their way into non-PR2-specific status after proving its usefulness first as a PR2 specific utility.