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Teleop PR2 Mobile Base In Simulation

Description: Controlling PR2 base with keyboard and driving PR2 around in simulation.

Tutorial Level: INTERMEDIATE

Next Tutorial: Moving the PR2 Arm in Simulation

Driving PR2 in simulation

  1. Launch empty word:
    rosmake pr2_gazebo
    roslaunch gazebo_worlds empty_world.launch
  2. Launch PR2 in simulation in an empty world. This also brings up the base controllers:
    roslaunch pr2_gazebo pr2.launch
  3. Now you can drive the base around using the pr2_teleop package:

    roslaunch pr2_teleop teleop_keyboard.launch

    Make sure the keyboard focus is on the terminal where you have launched pr2_teleop_keyboard.launch when you press the control keys (e.g. w,s,d,a, etc).

  4. You can verify that the teleop command are being sent using rostopic:

    rostopic echo base_controller/command
  5. For PR2 visualization interface,
    rosrun rviz rviz

    For more information, see rviz.



2020-02-22 13:05