This package can be used to control the PR-2 using dynamic-graph both in simulation and on the robot.
Running the simulation with PR2 in Gazebo
1. Edit the sot_pr2.yaml to add your own Python path. A cleaner way should be implemented to replace this temporary mechanism. In this file you can also switch between position/force control.
2. Run the following commands:
1 # Launch gazebo simulation.
2 roslaunch gazebo_worlds empty_world.launch
3 # Spawn a PR-2 robot in gazebo.
4 roslaunch pr2_gazebo pr2.launch
5 # Load and start the sot_pr2 controller.
6 roslaunch sot_pr2 sot_pr2.launch
7
8 # List available controllers
9 # You should see sot_pr2/SotPr2Plugin in the list. If this is not the case,
10 # the plug-in cannot be found (did you compile sot_pr2 package? is it in your
11 # ROS_PACKAGE_PATH?).
12 rosrun pr2_controller_manager pr2_controller_manager list-types
13
14 # Manage the controller using the remote client.
15 rosrun dynamic_graph_bridge run_command