Package Summary
PR2-specific simulation components. These include plugins and launch scripts necessary for running PR2 in simulation.
- Author: Maintained by John Hsu
- License: BSD
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_simulator/branches/pr2_simulator-1.6
Package Summary
PR2-specific simulation components. These include plugins and launch scripts necessary for running PR2 in simulation.
- Author: Maintained by John Hsu
- License: BSD
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_simulator/trunk
Package Summary
PR2-specific simulation components. These include plugins and launch scripts necessary for running PR2 in simulation.
- Author: Maintained by John Hsu
- License: BSD
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_simulator/trunk
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
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. [View active tickets]
Example Videos