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Note: This tutorial assumes that you have completed the previous tutorials: Startup PR2 in Simulation.
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Working with Gazebo over ROS

Description: For the most part, working with Gazebo is the same as working with a robot.

Tutorial Level: BEGINNER

Next Tutorial: Basic PR2 Controls over ROS

Getting the state of the robot

First, startup PR2 in simulation. To see joint states of the PR2 robot, type

rostopic echo joint_states | less

This message is published at 100Hz.

Controlling the robot

Similarly, you can launch controllers and use them to control the robot. For example, type

rosmake pr2_teleop
roslaunch pr2_teleop teleop_keyboard.launch

You can then use keyboard commands to drive the robot around.

Reading from keyboard
---------------------------
Use 'WASD' to translate
Use 'QE' to yaw
Press 'Shift' to run

teleop_pr2_keyboard node publishes velocity commands to the PR2 base controller. For more about the interface to mechanism controllers, see the PR2 mechanism controls stack.


2020-02-22 13:05