Rename PR2 to Panda

Airyzf · May 15, 2018 · 27771dd · 27771dd
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Showing 9 changed files with 20 additions and 20 deletions.
diff --git a/doc/interactivity/launch/attached_body_tutorial.launch b/doc/interactivity/launch/attached_body_tutorial.launch
@@ -1,19 +1,19 @@
 <launch>
 
   <!-- load URDF -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_description)/robots/pr2.urdf.xacro'" /> 
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find panda_description)/robots/panda.urdf.xacro'" /> 
 
   <!-- load SRDF -->
-  <param name="robot_description_semantic" textfile="$(find pr2_moveit_config)/config/pr2.srdf" />
+  <param name="robot_description_semantic" textfile="$(find panda_moveit_config)/config/panda.srdf" />
 
   <!-- launch rviz -->
   <node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" output="screen">
-    <rosparam command="load" file="$(find pr2_moveit_config)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
   </node>
 
   <!-- launch interactivity_tutorial -->
   <node name="attached_body_tutorial" pkg="moveit_tutorials" type="attached_body_tutorial" respawn="false" output="screen">
-    <rosparam command="load" file="$(find pr2_moveit_config)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
   </node>
 
 </launch>
diff --git a/doc/interactivity/launch/interactivity_tutorial.launch b/doc/interactivity/launch/interactivity_tutorial.launch
@@ -1,19 +1,19 @@
 <launch>
 
   <!-- load URDF -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_description)/robots/pr2.urdf.xacro'" /> 
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find panda_description)/robots/panda.urdf.xacro'" /> 
 
   <!-- load SRDF -->
-  <param name="robot_description_semantic" textfile="$(find pr2_moveit_config)/config/pr2.srdf" />
+  <param name="robot_description_semantic" textfile="$(find panda_moveit_config)/config/panda.srdf" />
 
   <!-- launch rviz -->
   <node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" output="screen">
-    <rosparam command="load" file="$(find pr2_moveit_config)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
   </node>
 
   <!-- launch interactivity_tutorial -->
   <node name="interactivity_tutorial" pkg="moveit_tutorials" type="interactivity_tutorial" respawn="false" output="screen">
-    <rosparam command="load" file="$(find pr2_moveit_config)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
   </node>
 
 </launch>
diff --git a/doc/interactivity/src/interactive_robot.cpp b/doc/interactivity/src/interactive_robot.cpp
@@ -40,7 +40,7 @@
 #include <eigen_conversions/eigen_msg.h>
 #include <moveit/robot_state/conversions.h>
 
-// default world object position is just in front and left of PR2 robot.
+// default world object position is just in front and left of Panda robot.
 const Eigen::Affine3d InteractiveRobot::DEFAULT_WORLD_OBJECT_POSE_(Eigen::Affine3d(Eigen::Translation3d(0.25, -0.5,
                                                                                                         0.5)));
 

diff --git a/doc/kinematics/launch/ros_api_tutorial.launch b/doc/kinematics/launch/ros_api_tutorial.launch
@@ -1,3 +1,3 @@
 <launch>
-  <include file="$(find pr2_moveit_config)/launch/demo.launch"/>
+  <include file="$(find panda_moveit_config)/launch/demo.launch"/>
 </launch>
diff --git a/doc/motion_planning_pipeline/src/motion_planning_pipeline_tutorial.cpp b/doc/motion_planning_pipeline/src/motion_planning_pipeline_tutorial.cpp
@@ -86,7 +86,7 @@ int main(int argc, char** argv)
 
   // Pose Goal
   // ^^^^^^^^^
-  // We will now create a motion plan request for the right arm of the PR2
+  // We will now create a motion plan request for the right arm of the Panda
   // specifying the desired pose of the end-effector as input.
   planning_interface::MotionPlanRequest req;
   planning_interface::MotionPlanResponse res;

diff --git a/doc/perception_configuration/perception_configuration_tutorial.rst b/doc/perception_configuration/perception_configuration_tutorial.rst
@@ -10,7 +10,7 @@ In this section, we will walk through configuring the 3D sensors on your robot w
 YAML Configuration file (Point Cloud)
 -------------------------------------
 
-We will have to generate a YAML configuration file for configuring the 3D sensors. Please see `this example file <https://github.com/davetcoleman/pr2_moveit_config/blob/master/config/sensors_kinect_pointcloud.yaml>`_ for processing point clouds, located in the `pr2_moveit_config repository for Kinetic <https://github.com/davetcoleman/pr2_moveit_config>`_. ::
+We will have to generate a YAML configuration file for configuring the 3D sensors. Please see `this example file <https://github.com/PickNikRobotics/panda_moveit_config/blob/master/config/sensors_kinect_pointcloud.yaml>`_ for processing point clouds, located in the `panda_moveit_config repository for Kinetic <https://github.com/PickNikRobotics/panda_moveit_config>`_. ::
 
  sensors:
    - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
@@ -43,7 +43,7 @@ We will have to generate a YAML configuration file for configuring the 3D sensor
 YAML Configuration file (Depth Map)
 -----------------------------------
 
-We will have to generate a YAML configuration file for configuring the 3D sensors. An `example file for processing depth images <https://github.com/davetcoleman/pr2_moveit_config/blob/master/config/sensors_kinect_depthmap.yaml>`_ can be found in the `pr2_moveit_config repo <https://github.com/davetcoleman/pr2_moveit_config>`_ as well ::
+We will have to generate a YAML configuration file for configuring the 3D sensors. An `example file for processing depth images <https://github.com/PickNikRobotics/panda_moveit_config/blob/master/config/sensors_kinect_depthmap.yaml>`_ can be found in the `panda_moveit_config repo <https://github.com/PickNikRobotics/panda_moveit_config>`_ as well ::
 
  sensors:
    - sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
@@ -84,9 +84,9 @@ Update the launch file
 
 Add the YAML file to the launch script
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-You will now need to update the *sensor_manager.launch* file in the "launch" directory of your pr2_moveit_config directory with this sensor information (this file is auto-generated by the Setup Assistant but is empty). You will need to add the following line into that file to configure the set of sensor sources for MoveIt! to use::
+You will now need to update the *sensor_manager.launch* file in the "launch" directory of your panda_moveit_config directory with this sensor information (this file is auto-generated by the Setup Assistant but is empty). You will need to add the following line into that file to configure the set of sensor sources for MoveIt! to use::
 
- <rosparam command="load" file="$(find pr2_moveit_config)/config/sensors_kinect.yaml" />
+ <rosparam command="load" file="$(find panda_moveit_config)/config/sensors_kinect.yaml" />
 
 Note that you will need to input the path to the right file you have created above.
 

diff --git a/doc/state_display/launch/state_display_tutorial.launch b/doc/state_display/launch/state_display_tutorial.launch
@@ -1,9 +1,9 @@
 <launch>
-  <include file="$(find pr2_moveit_config)/launch/planning_context.launch">
+  <include file="$(find panda_moveit_config)/launch/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
 
   <node name="state_display_tutorial" pkg="moveit_tutorials" type="state_display_tutorial" respawn="false" output="screen">
-    <rosparam command="load" file="$(find pr2_moveit_config)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
   </node>
 </launch>
diff --git a/doc/state_display/src/state_display_tutorial.cpp b/doc/state_display/src/state_display_tutorial.cpp
@@ -67,7 +67,7 @@ int main(int argc, char **argv)
   /* Create a kinematic state - this represents the configuration for the robot represented by kinematic_model */
   robot_state::RobotStatePtr kinematic_state(new robot_state::RobotState(kinematic_model));
 
-  /* Get the configuration for the joints in the right arm of the PR2*/
+  /* Get the configuration for the joints in the right arm of the Panda*/
   const robot_model::JointModelGroup *joint_model_group = kinematic_model->getJointModelGroup("right_arm");
 
   /* PUBLISH RANDOM ARM POSITIONS */

diff --git a/doc/urdf_srdf/urdf_srdf_tutorial.rst b/doc/urdf_srdf/urdf_srdf_tutorial.rst
@@ -24,7 +24,7 @@ We hope to be able to get rid of these restrictions on the joint names soon.
 
 Safety Limits
 """""""""""""
-Some URDFs have safety limits set in addition to the joint limits of the robot. Here's an example of the safety controller specified for the PR2 head pan joint::
+Some URDFs have safety limits set in addition to the joint limits of the robot. Here's an example of the safety controller specified for the Panda head pan joint::
 
    <safety_controller k_position="100" k_velocity="1.5" soft_lower_limit="-2.857" soft_upper_limit="2.857"/>
 
@@ -54,7 +54,7 @@ The SRDF or Semantic Robot Description Format complement the URDF and specifies
 
 Virtual Joints
 ^^^^^^^^^^^^^^
-The URDF contains information only about the physical joints on the robot. Often, additional joints need to be defined to specify the pose of the root link on the robot with respect to a world coordinate system. In such cases, a virtual joint is used to specify this connection. E.g., a mobile robot like the PR2 that moves around in the plane is specified using a planar virtual joint that attaches the world coordinate frame to the frame of the robot. A fixed robot (like an industrial manipulator) should be attached to the world using a fixed joint.
+The URDF contains information only about the physical joints on the robot. Often, additional joints need to be defined to specify the pose of the root link on the robot with respect to a world coordinate system. In such cases, a virtual joint is used to specify this connection. E.g., a mobile robot like the Panda that moves around in the plane is specified using a planar virtual joint that attaches the world coordinate frame to the frame of the robot. A fixed robot (like an industrial manipulator) should be attached to the world using a fixed joint.
 
 Passive Joints
 ^^^^^^^^^^^^^^