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## description =  Simple pendulums examples.
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=== Single Link Example ===
{{attachment:simulator_gazebo/Tutorials/single_link_snapshot.png}} <<BR>>

A very simple single link example.  The single link is attached to the world via a hinge joint.

In order to run this demo, please run the following [[roslaunch]] files in separate windows:
 {{{
rosmake pr2_examples_gazebo
roslaunch pr2_examples_gazebo single_link.launch
 }}}

A controller named `test_controller` is loaded by default, try
 {{{
rosrun pr2_controller_manager pr2_controller_manager list
 }}}
and you should see the following output:
 {{{
test_controller ( running )
 }}}

To send a position command to the `test_controller`, publish the desired position using the [[rostopic]] command
 {{{
rostopic pub /test_controller/command std_msgs/Float64 .5
 }}}

To visualize in rviz, make sure [[pr2_controller_manager]] is compiled
 {{{
rosmake pr2_controller_manager
 }}}
and start [[robot_state_publisher]] by issuing the following command:
 {{{
roslaunch pr2_controller_manager controller_manager.launch 
 }}}
then make sure [[rviz]] is compiled and start rviz:
 {{{
rosrun rviz rviz
 }}}

Finally, set '''`Fixed Frame`''' to '''`base_block`''' under `Global Options` panel.
{{attachment:simulator_gazebo/Tutorials/single_link_rviz_snapshot.png}}

=== Dual Link Pendulum Example ===
{{attachment:simulator_gazebo/Tutorials/dual_link_snapshot.png}} <<BR>> A simulation of two links attached by a single hinge joint - a simple pendulum.

In order to run this demo, please run the following [[roslaunch]] files in separate windows:
 {{{
rosmake pr2_examples_gazebo
roslaunch pr2_examples_gazebo dual_link.launch
 }}}

=== Multiple Link Pendulum Example ===
{{attachment:simulator_gazebo/Tutorials/multi_link_snapshot.png}} <<BR>> A simulation of multiple links attached by hinge joints.

In order to run this demo, please run the following [[roslaunch]] files in separate windows:
 {{{
rosmake pr2_examples_gazebo
roslaunch pr2_examples_gazebo multi_link.launch
 }}}

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