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PR2 Plugs Itself In

Description: Simulate environment for testing autonomous PR2 plugging in.

Tutorial Level: INTERMEDIATE


This tutorial uses the plugs code from the pr2_plugs stack.


For this tutorial, you need to install the 'pr2all' variant of ROS (see installation instructions). On Ubuntu, this means:

sudo apt-get install ros-cturtle-pr2all

And you will also need to check out a unreleased package ( /!\ use at your own risk):

svn co https://code.ros.org/svn/wg-ros-pkg/stacks/wg_robots_gazebo/trunk wg_robots_gazebo


Add above wg_robots_gazebo directory path to your ROS_PACKAGE_PATH environment variable. Now you should be able to compile the simulation plugging in package:

rosmake pr2_plugs_gazebo_demo


First, export environment variable

export ROBOT=sim

This sets the launch scripts to use sim.machine in pr2_machine.

Start the plugging in simulation:

roslaunch pr2_plugs_gazebo_demo pr2_plugs_demo.launch

Trigger the plugging in action:

rosrun pr2_plugs_executive app_plugin.py

Watch the plugging in process:

Wiki: pr2_simulator/Tutorials/PR2PluggingIn (last edited 2011-02-07 20:14:30 by John Hoare)