pr2_simulator: pr2_controller_configuration_gazebo | pr2_examples_gazebo | pr2_gazebo | pr2_gazebo_plugins | pr2_ogre

Stack Summary

PR2-specific simulation components. These include plugins and launch scripts necessary for running PR2 in simulation.

• Author: Maintained by John Hsu
• License: BSD
• Repository: wg-ros-pkg (https://code.ros.org/svn/wg-ros-pkg)

Overview

The PR2 simulator is implemented using simulator_gazebo stack. It is a three-dimensional, rigid-body model of the PR2 robot with most of the hardware-ROS interfaces found on the actual PR2 robot. You can see the pr2_gazebo_plugins package for documentation on the supported interfaces.

Documentation

• Overview of Main Components

• Simulator Tutorials

• Ways to Speedup Simulation

Known Issues

In the current PR2 simulation:

• Joint damping values unverified.
• Joint friction values unimplemented.
• Robot inertial information obtained from CAD, unverified against actual hardware.
• Each laser scan occurs in a single time step with zero duration.

Report a Bug

Use trac to report bugs or request features

Example Videos