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Hi Stefan,
I had my high-hopes to port pr2_calibration stack to our TUM-Rosie robot but then stopped working with it after we got our PR2. I have however quite an extensive private email conversation with Vijay where he helped me understand the design of pr2_calibration stack. If you want I could send it to you.
On the other side, I have to say that I do not really understand why there is no more interest into generalization of the mentioned stack from ROS community given that 60+ robots are now running on ROS, it is really convenient to use it and essentially also solves one of the elementary issues one has with every robot.
cheers, D.
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