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Starting PR2 in Simulation

pr2.png

Description: Simulating PR2 with typical sensor packages.

  1. Start Gazebo with an empty world
     roslaunch gazebo_ros empty_world.launch
  2. Spawn PR2
     roslaunch pr2_gazebo pr2.launch

A copy of pr2.launch is listed below with some comments:

<launch>

  <!-- Startup PR2 without any mechanism controllers -->
  <include file="$(find pr2_gazebo)/pr2_no_controllers.launch" />

  <!-- Load and Start Default Controllers -->
  <include file="$(find pr2_controller_configuration_gazebo)/pr2_default_controllers.launch" />

</launch>

For more details, please visit pr2_gazebo package.

Next Tutorial: Working with PR2 over ROS



2020-02-15 13:02