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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-diamondback-wg-robots-gazebo
First, source ros environments setup script,
Next, 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