redundant_manipulator_control: dynamic_graph_actionlib | dynamic_graph_bridge | jrl_dynamics_urdf | roboptim_smoother | sot_pr2

Package Summary

PR-2 real-time controller for dynamic-graph. Gather dedicated dynamic-graph entities, humanoid robot python classs definition and PR-2 real-time controller.

• Author: Thomas Moulard
• License: BSD
• Repository: laas-ros-pkg
• Source: git git://github.com/laas/sot_pr2.git

This package can be used to control the PR-2 using dynamic-graph both in simulation and on the robot.

Running the simulation with PR2 in Gazebo

1. Edit the sot_pr2.yaml to add your own Python path. A cleaner way should be implemented to replace this temporary mechanism. In this file you can also switch between position/force control.

2. Run the following commands:

   1 # Launch gazebo simulation.
   2 roslaunch gazebo_worlds empty_world.launch
   3 # Spawn a PR-2 robot in gazebo.
   4 roslaunch pr2_gazebo pr2.launch
   5 # Load and start the sot_pr2 controller.
   6 roslaunch sot_pr2 sot_pr2.launch
   7 
   8 # List available controllers
   9 # You should see sot_pr2/SotPr2Plugin in the list. If this is not the case,
  10 # the plug-in cannot be found (did you compile sot_pr2 package? is it in your
  11 # ROS_PACKAGE_PATH?).
  12 rosrun pr2_controller_manager pr2_controller_manager list-types
  13 
  14 # Manage the controller using the remote client.
  15 rosrun dynamic_graph_bridge run_command