####################################
##FILL ME IN
####################################
## links to any required tutorials
## note.0=
## descriptive title for the tutorial
## title =Starting PR2 in Simulation
## multi-line description to be displayed in search
## description = Starting PR2 in Simulation
## the next tutorial description (optional)
## next =
## links to next tutorial (optional)
## next.0.link=[[pr2_simulator/Tutorials/WorkingWithGazeboOverRos|Accessing Simulated PR2 over ROS]]
## next.1.link=[[pr2_simulator/Tutorials/PR2HeadCartSimulation|Head Cart Simulation]]
## what level user is this tutorial for
## level= BeginnerCategory
## choose the correct category (this tag will be searched over it must be here)
#####################################
== Starting PR2 in Simulation ==
{{attachment:pr2.png}}

'''Description:''' Simulating PR2 with typical sensor packages.


 1. Start Gazebo with an empty world
 {{{
 roslaunch gazebo_ros empty_world.launch
}}}
 1. 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:''' [[pr2_simulator/Tutorials/WorkingWithGazeboOverRos|Working with PR2 over ROS]]

----
## TutorialCategory
## FILL IN THE STACK TUTORIAL CATEGORY HERE
## IMPROVEME