First go through simulator_gazebo tutorials to learn the basics of using Gazebo.
Introductory Tutorials
- Starting PR2 in Simulation
Starting PR2 in Simulation
- Working with Gazebo over ROS
For the most part, working with Gazebo is the same as working with a robot.
- PR2 Simulator Workshop
This tutorial explores basic PR2 interfaces while using the PR2 in simulation.
- Teleop PR2 arm in simulation
This tutorial will give you keyboard teleop control of the PR2 arm
Advanced Topics
- Faking Sensor Info in Simulation
fake_localization node usage is introduced. It provides transform between base_link frame and the map frame.
- Starting a Separate Sensor Generation Node
Start up an image sensor generation node when the main simulation node is running headless.
- Debugging Gazebo plugins
You can run gazebo with gdb to debug real time controllers and plugins.
Examples and Reference
- Teleop PR2 Mobile Base In Simulation
Controlling PR2 base with keyboard and driving PR2 around in simulation.
- Building a Map in Simulation
Given a simple office environment and PR2 in simulation, how to create a map using the OpenSLAM GMapping package.
- Using Custom Maps in Simulation
How to use a custom map for 2D navigation in Gazebo simulator.
- PR2 Opens a Door
Simulated environment for testing autonomous door opening in simulation.
- Multi-Level Map With Ramps
An example environment with multiple floor levels and ramps.
- PR2 Plugs Itself In
Simulate environment for testing autonomous PR2 plugging in.
- PR2 Pick and Place Demo
PR2 Pick and Place Demo in Simulation Using the Grasping Pipeline
- Automated Regression Tests
Running the Gazebo regression tests on your machine.
- PR2 Opens a Door
Simulated environment for testing autonomous door opening in simulation.
- 2D Navigation Stack in Simulation
Testing the PR2 2D navigation stack in simulation given an example world with 2 desks as obstacles.
- Pendulum Examples
Simple pendulums examples.
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