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pr2_simulator: pr2_controller_configuration_gazebo | pr2_gazebo | pr2_gazebo_plugins

Package Summary

Launch scripts for simulating the PR2 in gazebo. The simulation equivalent of pr2.launch is found here. pr2_fingertip_pressure_contact_translator produces the same ROS topics as fingertip_pressure package for simulated PR2.

Launch files

pr2_empty_world.launch

Launch a PR2 in an empty world. This is the most basic PR2 simulation configuration, and is useful for testing basic interaction with the simulator.

pr2.launch

Spawn a simulated PR2, assuming that an instance of Gazebo is already up. This launch file is normally not used directly, but rather included in another launch file, as in pr2_empty_world.launch.

This file is meant to mirror the behavior pr2_bringup/pr2.launch, which is used to bringup a physical PR2, including default controllers.

pr2_no_arms.launch

Spawn a simulated PR2 without arms, assuming that an instance of Gazebo is already up. This launch file is normally not used directly, but rather included in another launch file.

pr2_no_controllers.launch

Spawn a simulated PR2 without the default controllers running, assuming that an instance of Gazebo is already up. This launch file is normally not used directly, but rather included in another launch file.

Controller launch files

The launch files in pr2_gazebo/controllers are included by the higher-level launch files documented above. The controller launch files themselves should be modified only be advanced users.

Scripts

The programs in pr2_gazebo/scripts are for developer testing only.

Troubleshooting

Please see the simulator_gazebo troubleshooting guide for tips on how to debug issues with pr2_gazebo.


2019-11-30 13:04