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You might have to create a plugin for that yourself.

But since you're looking for a way to study/develop path planning algorithms i highly recommend you to check the MoveIt! package ( moveit.ros.org ).You can easily create such a scenario you just described by just setting up a planar virtual joint between your robot's base and the world frame. Moreover, there're some tutorials that are specific for the pr2 ( http://moveit.ros.org/documentation/tutorials/ )