The PR2 Simulator contains a set of plugins for the Gazebo simulator. To install, please follow the procedure below.
Install PR2 Simulator
Step 0: Setup ros and ros-pkg Repositories
Before starting, be sure to go through the setup procedures for ROS specified here.
Step 1: Dependencies
Next, install system dependencies for Gazebo using the tool rosdep:
rosmake rosdep rosdep install pr2_gazebo
See rosdep more documentations.
Step 2: Fetching and Compiling Gazebo
Now you are ready to compile the simulator package.
Fresh install will take roughly 15-60 minutes, depending on platform, so you might want to speed it up by installing distcc and ccache (see build system optimizations).
Step 3: Running Simulator
Once you're done compiling, go to the tutorials page to see how simple demos are launched.