The rms_pr2_gazebo_environment package contains launch files that can launch an example RMS Gazebo environment for use with the rms. These files will launch the simulator with a PR2 world from the rail_worlds package, place a PR2 into the world, and start appropriate server nodes (e.g., rosbridge_server).



To install the rms_pr2_gazebo_environment stack, you can choose to either install from source, or from the Ubuntu package:


To install from source, execute the following:

  •    1 cd /path/to/your/ros/stacks
       2 git clone https://github.com/WPI-RAIL/rms_pr2_gazebo_environment.git
       3 roscd rms_pr2_gazebo_environment
       4 rosdep install rms_pr2_gazebo_environment
       5 rosmake rms_pr2_gazebo_environment

Ubuntu Package

To install the Ubuntu package, execute the following:

  • sudo apt-get install ros-fuerte-rms-pr2-gazebo-environment


Two launch files are included with this package: one to launch everything needed to run the entire server environment, and one to just spawn the robot into an existing Gazebo instance. To launch the entire server environment (i.e., with all server nodes such as rosbridge_server), simply run the following:

  • roslaunch rms_pr2_gazebo_environment rms_pr2_gazebo_environment.launch

If instead you wish to start Gazebo and spawn the robot without starting the actual server nodes, run the following set of commands in two shell sessions:

  •    1 roslaunch rail_worlds fuller_318_full_2_tables_world.launch
       2 roslaunch rms_pr2_gazebo_environment pr2_gazebo_start.launch


More detailed instructions are provided for installing, setting up, and running an instance of the PR2 RMS Gazebo Environment server. For more information, start with the following tutorial:

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A full list of all RMS related tutorials is provided on the rms stack page.


Please send bug reports to the GitHub Issue Tracker. Feel free to contact me at any point with questions and comments.



Wiki: rms_pr2_gazebo_environment (last edited 2012-12-29 21:15:11 by Russell Toris)