Starting PR2 in Simulation

Description: Simulating PR2 with typical sensor packages.

1. Build the required packages

    rosmake pr2_gazebo 

2. Start Gazebo with an empty world

    roslaunch gazebo_worlds empty_world.launch

3. Spawn PR2

    roslaunch pr2_gazebo pr2.launch

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

<launch>
  
  <!-- 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" />

</launch>

For more details, please visit pr2_gazebo package.

Next Tutorial: Working with PR2 over ROS