<commit_before><package>
    <description brief="Python library for interacting with HERB.">
        Python library for interacting with HERB through OpenRAVE. HERB is a
        bimanual mobile manipulator developed by the Personal Robotics Lab at
        Carnegie Mellon University.
    </description>
    <author><NAME>, <NAME></author>
    <license>BSD</license>
    <depend package="rospy"/>
    <depend package="prpy"/>
    <depend package="openrave"/>
    <depend package="openrave_exports"/>
    <depend package="manipulation2"/>
    <depend package="or_multi_controller"/>
    <!-- TODO: Make these completely optional. -->
    <depend package="cbirrt2"/>
    <depend package="orcdchomp"/>
    <export>
        <!-- planners -->
        <openrave optional="cbirrt2"/>
        <openrave optional="orcdchomp"/>
        <!-- controllers -->
        <openrave optional="or_owd_controller"/>
        <openrave optional="or_segway_controller"/>
        <!-- sensors --><commit_msg>Added herb_description as a dependency.<commit_after><package>
    <description brief="Python library for interacting with HERB.">
        Python library for interacting with HERB through OpenRAVE. HERB is a
        bimanual mobile manipulator developed by the Personal Robotics Lab at
        Carnegie Mellon University.
    </description>
    <author><NAME>, <NAME></author>
    <license>BSD</license>
    <depend package="rospy"/>
    <depend package="prpy"/>
    <depend package="openrave"/>
    <depend package="openrave_exports"/>
    <depend package="manipulation2"/>
    <depend package="or_multi_controller"/>
    <depend package="herb_description"/>
    <!-- TODO: Make these completely optional. -->
    <depend package="cbirrt2"/>
    <depend package="orcdchomp"/>
    <export>
        <!-- planners -->
        <openrave optional="cbirrt2"/>
        <openrave optional="orcdchomp"/>
        <!-- controllers -->
        <openrave optional="or_owd_controller"/>
        <openrave optional="or_segway_controller"/>
        <!-- sensors -->
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