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Connecting a PR2 in Gazebo with MoveIt

asked 2014-07-22 05:43:40 -0600

elias gravatar image


I want to control a PR2 robot in Gazebo with MoveIt. I am following this tutorial. The robot itself is launching in Gazebo and I was able to configure the robot in Rviz.

As the tutorial declares itself as slightly outdated I'm not wondering to run in some trouble. Unfortunately the "detailed documentation" is completely gone so your help is very appreciated.

I followed the instructions setting the ROS_PACKAGE_PATH, creating the controllers.yaml, edited the pr2_moveit_controller_manager.launch and created the corresponding launch file. I double and triple checked I haven't messed anything with the paths in the configuration files.

roslaunch pr2_gazebo pr2_empty_world.launch will bring up the simulator with the PR2 robot, but

roslaunch pr2_moveit_generated moveit_planning_execution.launch will launch a broken Rviz window with no robot at all. It reported a global error: Fixed Frame [map] does not exist

I hope anyone can help me out. Thanks in advance

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answered 2014-07-23 03:27:43 -0600


I am not very experienced with MoveIt and PR2 so I can just hope this information is correct. is the demo.launch file working??

You seem to have multiple problems so maybe more than this answer is needed.

For rviz:

look at your tf-tree (after you started the robot in gazebo) and look for the root.(you can use rosrun rqt_gui rqt_gui or rosrun tf view_frames && evince frames.pdf to visualize it) It might be that there is no transformation of your robot to a global reference frame so it might be something like base_footprint. If you do not receive any TF data make sure you start a robotstatepublisher in your launch file.

after you found the root-node use this in rviz.

For the the controller(if there is a problem):

make sure that there is a controller listening for the joint_trajectories you specified in the controller.yaml

In general the steps should be the same for a simulated and a real robot...

btw the newer moveit tutorials are here:

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Asked: 2014-07-22 05:43:40 -0600

Seen: 3,213 times

Last updated: Jul 23 '14