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This package provides an end-user graphical interface for controlling the PR2. Specifically, it uses interactive_markers, in combination with Rviz, to allow a user to command the various parts of the robot.

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See this page for information on getting the needed packages installed for using interactive markers.


To bring the robot up in simulation:

roslaunch gazebo_worlds empty_world.launch

roslaunch pr2_gazebo pr2.launch

export ROBOT=sim

roslaunch pr2_interactive_manipulation pr2_interactive_manipulation_robot.launch sim:=true

roslaunch pr2_interactive_manipulation_frontend pr2_interactive_manipulation_desktop.launch sim:=true

In Rviz, add a "Interactive Markers" topic, and subscribe to /pr2_markercontrol/update. Finally, select the "Interact" button in Rviz tool bar (upper-left).


Every interactive piece will glow when you hover over it with the mouse. Remember interactive markers are only shown when the "Interact" mode is selected on the Rviz toolbar (the default is usually "Move Camera").

Head Pointing

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This control allows you to drag around a target for the PR2 head to point toward.

Texture Projector

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This control serves as an indicator of the status of the red texture projector and allows you to turn it on and off.

Arm Control

Gripper Movement

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This control allows you to move the grippers!

Gripper Palm:

Control Markers:

Posture Control

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Torso Control

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This control allows you to raise and lower the spine of the PR2, using a pair of red and green arrows located on the back of the PR2.

Base Control

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* Please use with extreme caution!! * There is NO collision avoidance provided with these controls.

This control allows you to move the base of the PR2.

Development Status

Completed Items:

In development:

Possible support, depending on interest:

Comments/feedback welcome!

2024-07-20 13:25