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PR2 Opens a Door
Description: Simulated environment for testing autonomous door opening in simulation.Tutorial Level: INTERMEDIATE
Contents
Installation
This tutorial uses the door opening code from the pr2_doors stack. You will need to install the 'pr2all' variant of ROS (see installation instructions). On Ubuntu, this means:
sudo apt-get install ros-diamondback-wg-robots-gazebo
Running
First, source ros environments setup script,
source /opt/ros/diamondback/setup.bash
Next, export environment variable
export ROBOT=sim
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
