pr2_sumulator will work on gazebo7.0 ?

asked 2016-06-07 14:37:31 -0500

anilmullapudi
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I am working with pr2_simulator which is built on gazebo2.2. However, recently i have upgraded to gazebo7.0. Is gazebo7.0 has backward compatibility and is it possible to run pr2_simulator on gazebo7.0 ?

When i try to install "sudo apt-get install ros-indigo-pr2_simulator", i am getting the following errors.

The following packages have unmet dependencies: ros-indigo-pr2-simulator : Depends: ros-indigo-pr2-gazebo but it is not going to be installed Depends: ros-indigo-pr2-gazebo-plugins but it is not going to be installed E: Unable to correct problems, you have held broken packages.

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answered 2016-06-08 23:43:10 -0500

Peter Mitrano

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updated 2016-06-08 23:44:43 -0500

Nate's (nkoenig) answer from about is certainly very helpful, and you should read all of those resources. However, I can provide some insight into steps you should actually take. I just did this with the turtlebot simulation stuff this week.

The apt packages for indigo, such as pr2-gazebo-plugins, and for many other things including all the turtlebot stuff, depend on gazebo 2. It won't install them because you've installed gazebo 7.

The solution is to build from source! luckily catkin workspace conventions makes the setup painless. You may be lucky in find one branch (probably named indigo-devel) of the pr2 stuff that works in gazebo 7. If not, you'll have to fix it yourself. Lots of methods have been deprecated or removed between 2 and 7, so it might be tedious to get it to compile, and then there's still a chance they won't work. Unless you're rather familiar with the changes in gazebo 7, you should look hard for someone's fork or branch that already works with indigo & gazebo 7.

Good luck!

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I did not found any branch of pr2 with gazebo7 :( , so i think there is no option other than doing simulation from the scratch

anilmullapudi ( 2016-06-09 08:22:13 -0500 )edit

In my experience, building code written for gazebo 2 with gazebo 7 isn't as hard as it seems. There are API changes, but nothing that ever took a long time to find a replacement for.