I just ran into the same problem. The pages with the source code claim they were last edited in January, so I sense something might be out of date...

Can someone point us in the right direction?

On a related note, is there a tutorial for starting up the existing cartesian controllers? I'm having trouble using what is contained in the pr2_mechanism tutorials and getting the right parameters/names for the JTransposeController or robot_mechanism_controllers/CartesianPoseController that appear when I run pr2_gazebo and do pr2_controller_manager list-types.

Thanks,


Adam Leeper
Stanford University
aleeper@stanford.edu
719.358.3804


On Tue, Aug 31, 2010 at 7:35 AM, Bert Willaert <bert.willaert@mech.kuleuven.be> wrote:

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Is this tutorial outdated or am I missing something?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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