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PR2 Opens a DoorDescription: Simulated environment for testing autonomous door opening in simulation.
Tutorial Level: INTERMEDIATE
$ sudo apt-get install ros-cturtle-pr2all
And you will also need to check out an unreleased package ( use at your own risk):
svn co https://code.ros.org/svn/wg-ros-pkg/stacks/wg_robots_gazebo/trunk/pr2_doors_gazebo_demo/ svn co https://code.ros.org/svn/ros/stacks/ros_experimental/trunk ros_experimental
Add above pr2_doors_gazebo_demo and ros_experimental directory paths to your ROS_PACKAGE_PATH environment variable.
Now you should be able to rosmake and launch the demo:
First, export environment variable
This sets the launch scripts to use sim.machine in pr2_machine.
Next, start the door opening simulation:
roslaunch pr2_doors_gazebo_demo pr2_doors_demo.launch
This brings up the simulated world with the PR2 robot in front of a door.
To trigger the door opening action and tell the executive to start opening the door:
rosrun pr2_doors_executive trigger_opendoor.py