Starting PR2 in Simulation
Description: Simulating PR2 with typical sensor packages.
- Start Gazebo with an empty world
roslaunch gazebo_ros empty_world.launch
- Spawn PR2
roslaunch pr2_gazebo pr2.launch
A copy of pr2.launch is listed below with some comments:
<launch> <!-- Startup PR2 without any mechanism controllers --> <include file="$(find pr2_gazebo)/pr2_no_controllers.launch" /> <!-- Load and Start Default Controllers --> <include file="$(find pr2_controller_configuration_gazebo)/pr2_default_controllers.launch" /> </launch>
For more details, please visit pr2_gazebo package.
Next Tutorial: Working with PR2 over ROS