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One of the great things about working on ROS is the ability to see everyone else's code. So when Joe Romano create the pr2_props demo, I was able to take it apart and see how it worked. The basic idea was to

This, along with Stanford's Demo gave me an idea. Essentially, what if you did the same exact demo, with slightly different arm positions, and a plastic lightsaber in the robots hand.


While the original pr2_props was written in C++, I converted the whole thing to be Python in a slightly more modular way. All of the arm positions are saved and loaded from yaml files.


The launch file duel_with_setup will move the PR2's arm to its side, and open the gripper. Place the lightsaber in the PR2's gripper pointing up and press enter.

Cute Video

2024-07-13 13:20