Starting PR2 in Simulation


Description: Simulating PR2 with typical sensor packages.

  1. Start Gazebo with an empty world
     roslaunch gazebo_ros empty_world.launch
  2. Spawn PR2
     roslaunch pr2_gazebo pr2.launch

A copy of pr2.launch is listed below with some comments:


  <!-- 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" />


For more details, please visit pr2_gazebo package.

Next Tutorial: Working with PR2 over ROS

Wiki: pr2_simulator/Tutorials/StartingPR2Simulation (last edited 2015-03-17 18:13:45 by DevonAsh)