Hi all,

I currently run robots in our lab on ROS.

With mobile everything goes fine, but when i started with manipulators.

I found that in ROS is some strange dependencies, in manipulation stacks is many dependencies on PR2 specyfic packages. For example pr2_controllers_msgs/JointTrajectoryActionGoal is used by many of the common stacks. trajectory_msgs is also part of one of PR2 stacks. This kind of dependencies should be strictly forbiden. 

There are some PR2 specyfic packages residing in common stacks, the best example i think is interpolated_ik_motion_planner which reside in motion_planners stack. And documentation do not mention about PR2 specyfic of this package.