Documentation Status

pr2_apps: pr2_app_manager | pr2_position_scripts | pr2_teleop_general | pr2_tuckarm

Package Summary

Released Continuous integration Documented

Basic applications for the PR2 robot

  • Maintainer status: maintained
  • Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
  • Author: Wim Meeussen
  • License: BSD
  • Source: git https://github.com/pr2/pr2_apps.git (branch: hydro-devel)
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This stack comprises applications that can be run on the PR2. In most cases, these applications can be run on PR2 hardware, or in simulation.

The current set of applications is:

  • pr2_mannequin_mode: move the robot's arms and head where you want, and they stay there

  • pr2_teleop: remote-control the robot, from joystick or keyboard

  • pr2_tuckarm: make the robot tuck its arms in tight, to get them out of the way for driving

Bringing up the robot

The applications in this stack assume that a robot, either physical or simulated, is already up (i.e., necessary nodes are running to present the PR2's ROS API).

Before running any of these applications, you must first bring up your robot.

To bring up a physical PR2:

roslaunch /etc/ros/robot.launch

To bring up a simulated PR2:

roslaunch pr2_gazebo pr2_empty_world.launch 

The latter example brings up the PR2 in an empty simulated world; for information on other worlds, including building your own, consult the pr2_simulator.

Report a Bug

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Wiki: pr2_apps (last edited 2010-07-07 00:30:53 by wim)