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PR2 Opens a Door

Description: Simulated environment for testing autonomous door opening in simulation.

Tutorial Level: INTERMEDIATE

pr2_doors_gazebo_demo/doors2.png

Installation

This tutorial uses the door opening code from the pr2_doors stack. You will need to install the 'pr2all' variant of ROS (see installation instructions). On Ubuntu, this means:

 $ sudo apt-get install ros-cturtle-pr2all

And you will also need to check out an unreleased package ( /!\ use at your own risk):

svn co https://code.ros.org/svn/wg-ros-pkg/stacks/wg_robots_gazebo/trunk/pr2_doors_gazebo_demo/

svn co https://code.ros.org/svn/ros/stacks/ros_experimental/trunk ros_experimental

Add above pr2_doors_gazebo_demo and ros_experimental directory paths to your ROS_PACKAGE_PATH environment variable.

Please note that pr2_doors 0.3.8 release contained a bug, a recent update to 0.3.9 fixed the issue.

Compiling

Now you should be able to rosmake and launch the demo:

rosmake pr2_doors_gazebo_demo

Running

First, export environment variable

export ROBOT=sim

This sets the launch scripts to use sim.machine in pr2_machine.

Next, start the door opening simulation:

roslaunch pr2_doors_gazebo_demo pr2_doors_demo.launch

This brings up the simulated world with the PR2 robot in front of a door.

To trigger the door opening action and tell the executive to start opening the door:

rosrun pr2_doors_executive trigger_opendoor.py




2020-02-22 13:05