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I'm also struggling with this problem. Unfortunately, I have to relay on the PR2 robot as it is the main robot in our work and I have to test my code in the simulator before I have access to the actual robot.

To avoid pitfalls I strictly limited myself to Ubuntu 12.04-4, ROS groovy with the internal gazebo simulator and the current MoveIt distribution.

I used the guideline above to get the system running but unfortunately, many of the tutorials are broken or restricted to hydro.

If someone has a working system controlling a PR2 in Gazebo with MoveIt I would really love to learn more about how to setup the environment.

Thanks!

I'm also struggling with this problem. Unfortunately, I have to relay on the PR2 robot as it is the main robot in our work lab and I have to test my code in the simulator before I have access to the actual robot.

To avoid pitfalls I strictly limited myself to Ubuntu 12.04-4, ROS groovy Groovy with the internal gazebo Gazebo simulator and the current MoveIt distribution.

I used the guideline above to get the system running but unfortunately, many of the tutorials are broken or restricted to hydro.Hydro.

If someone has a working system controlling a PR2 in Gazebo with MoveIt I would really love to learn more about how to setup the environment.

Thanks!