This stack comprises applications that can be run on the PR2. In most cases, these applications can be run on PR2 hardware, or in simulation.
The current set of applications is:
pr2_mannequin_mode: move the robot's arms and head where you want, and they stay there
pr2_teleop: remote-control the robot, from joystick or keyboard
pr2_tuckarm: make the robot tuck its arms in tight, to get them out of the way for driving
Bringing up the robot
The applications in this stack assume that a robot, either physical or simulated, is already up (i.e., necessary nodes are running to present the PR2's ROS API).
Before running any of these applications, you must first bring up your robot.
To bring up a physical PR2:
roslaunch /etc/ros/robot.launch
To bring up a simulated PR2:
roslaunch pr2_gazebo pr2_empty_world.launch
The latter example brings up the PR2 in an empty simulated world; for information on other worlds, including building your own, consult the pr2_simulator.
Report a Bug
<<TracLink(wg-ros-pkg pr2_apps)>>