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PR2 Pick and Place Demo
Description: PR2 Pick and Place Demo in Simulation Using the Grasping PipelineTutorial Level: INTERMEDIATE
Contents
Installation
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 an unreleased package with the following rosinstall file:
rosinstall ~/pr2_tabletop_manipulation_overlay /opt/ros/cturtle/ pr2_tabletop_manipulation_gazebo_demo.rosinstall
Compiling
Now you should be able to compile it:
source ~/pr2_tabletop_manipulation_overlay/setup.sh rosmake pr2_tabletop_manipulation_gazebo_demo
Launching Demo
In this demo, we show the user how to grasp a simple object using the pick and place pipeline.
export ROBOT=sim
roslaunch pr2_tabletop_manipulation_gazebo_demo pr2_tabletop_manipulation_demo.launch
in a separate terminal
rosrun pr2_tabletop_manipulation_gazebo_demo tabletop_manipulation_demo_exec_test.py
Watch the tabletop manipulation demo: