## repository: https://code.ros.org/svn/wg-ros-pkg <> <> == Launch files == === pr2_empty_world.launch === Launch a PR2 in an empty world. This is the most basic PR2 simulation configuration, and is useful for testing basic interaction with the simulator. === pr2.launch === Spawn a simulated PR2, assuming that an instance of Gazebo is already up. This launch file is normally not used directly, but rather included in another launch file, as in `pr2_empty_world.launch`. This file is meant to mirror the behavior [[pr2_bringup]]`/pr2.launch`, which is used to bringup a physical PR2, including default controllers. === pr2_no_arms.launch === Spawn a simulated PR2 without arms, assuming that an instance of Gazebo is already up. This launch file is normally not used directly, but rather included in another launch file. === pr2_no_controllers.launch === Spawn a simulated PR2 without the default controllers running, assuming that an instance of Gazebo is already up. This launch file is normally not used directly, but rather included in another launch file. === Controller launch files === The launch files in `pr2_gazebo/controllers` are included by the higher-level launch files documented above. The controller launch files themselves should be modified only be advanced users. == Scripts == The programs in `pr2_gazebo/scripts` are for developer testing only. == Troubleshooting == Please see the [[simulator_gazebo/Troubleshooting|simulator_gazebo troubleshooting]] guide for tips on how to debug issues with `pr2_gazebo`. ## CategoryPackage ## CategoryPackageWG