Shulou(Shulou.com)06/01 Report--

This article mainly introduces what problems will be encountered in the process of installing the PR2 simulator, it has a certain reference value, interested friends can refer to, I hope you can learn a lot after reading this article, let the editor take you to understand it.

First, install gazebo_ros_pkgs

Run the first line of the command in the tutorial first:

$roslaunch gazebo_ros empty_ world.launch [empty _ world.launch] is neither a launch file in package [gazebo_ros] nor is [gazebo_ros] a launch file nameThe traceback for the exception was written to the log file

The reason is that gazebo_ros_pkgs is not installed, so follow the installation tutorial given by gazebo:

Http://gazebosim.org/tutorials?tut=ros_installing

The installation commands are as follows:

Sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control

However, when there was a dependency problem, I changed the Aptitude installation to install the dependency automatically:

Sudo apt install aptitude

Then reinstall the gazebo-ros package:

Sudo aptitude install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control

After the installation, the rosrun name can not be found. I guess it should be the problem that the aptitude should not be deleted during the installation process, but it doesn't matter, just reinstall ROS_Base:

Sudo apt-get install ros-kinetic-ros-base

Test:

Source ~ / catkin_ws/devel/setup.bashroscore & rosrun gazebo_ros gazebo

When the GUI interface appears, the installation is successful:

Second, install PR2 simulator

Note that because zsh does not support wildcard installation, add setopt nomatch at the end of .zshrc first, and then wildcard installation is supported:

You can then install PR2 in the following ways:

Sudo apt-get install ros-kinetic-pr2-*

Installation takes a long time, it is recommended to find a better network speed to download.

3. Test PR2

Start roscore first:

Roscore

Note again here that if you are connected to the network, you may not be able to start roscore. You need to add the following two lines to the end of .bashrc or .zshrc:

Export ROS_HOSTNAME=localhostexport ROS_MASTER_URI= http://localhost:11311

Then we load PR2 into Gazebo at one time:

Roslaunch pr2_gazebo pr2_empty_world.launch

The successful loading is as follows:

Then start the keyboard control node to test whether you can control the movement and rotation of the PR2:

Roslaunch pr2_teleop teleop_keyboard.launch

Use the keyboard to move the robot in front of you, it's done!

Thank you for reading this article carefully. I hope the article "what problems will be encountered in the process of installing PR2 Simulator" shared by the editor will be helpful to you. At the same time, I also hope that you will support us and pay attention to the industry information channel. More related knowledge is waiting for you to learn!

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