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Teleop PR2 Mobile Base In SimulationDescription: Controlling PR2 base with keyboard and driving PR2 around in simulation.
Tutorial Level: INTERMEDIATE
Next Tutorial: Moving the PR2 Arm in Simulation
Driving PR2 in simulation
- Launch empty word:
rosmake pr2_gazebo roslaunch gazebo_worlds empty_world.launch
- Launch PR2 in simulation in an empty world. This also brings up the base controllers:
roslaunch pr2_gazebo pr2.launch
Now you can drive the base around using the pr2_teleop package:
roslaunch pr2_teleop teleop_keyboard.launch
Make sure the keyboard focus is on the terminal where you have launched pr2_teleop_keyboard.launch when you press the control keys (e.g. w,s,d,a, etc).
You can verify that the teleop command are being sent using rostopic:
rostopic echo base_controller/command
- For PR2 visualization interface,
rosrun rviz rviz
For more information, see rviz.