COMSE 6731 HUMANOID ROBOTS, SPRING 2016

Columbia University

Getting Started

The following lines will not work unless ROS is properly installed. You can find instructions for how to do this from the ros_tutorial pdf on the class website.

$ cd ~
$ git clone git@github.com:HumanoidRobotics/pr2_example_code.git
$ cd pr2_example_code
$ source /opt/ros/indigo/setup.bash
$ catkin_make
$ source devel/setup.bash

Running the Demo code

First, bring up Gazebo, Moveit and the PR2

$ export KINECT1=true
$ roslaunch system_launch pr2_gazebo_moveit.launch

Note: running export KINECT1=true allows Gazebo to know you will be using the kinect model.

Then run the individual demos with any of the following:

$ rosrun move_arm move_arm
$ rosrun move_base move_base
$ rosrun move_gripper move_gripper
$ rosrun move_head move_head