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This page is intended to collect notes from our usage of the PR2 at Stanford.

Driving the Robot

roslaunch tuckarms_application tuckarms_application.launch

roslaunch pr2_teleop teleop_joystick.launch

Follow the instructions here: pr2_teleop

Bringing up the robot

source .bash.ros #Source the appropriate paths of the installation
export ROS_MASTER_URI=http://pr1000:11311

On separate terminals, run:
roscore

and:
roslaunch pr2_bringup pr2.launch #Or the appropriate launch file

Turning on the projector

rosrun dynamic_reconfigure reconfigure_gui

Making the tilt laser go up and down

we have a script for this. email me. but here is a simple sine-wave controller:

rosrun pr2_mechanism_controllers send_periodic_cmd.py laser_tilt_controller linear 1 1 0

When you're done with the robot

The robot is quite noisy. You should turn it off when you're done using it, for noise pollution as well as to ensure nothing bad happens when nobody is around to babysit the robot:

ssh c1

sudo robot stop

sudo pr2-shutdown

Making a map

roslaunch pr2_2dnav_slam pr2_2dnav.launch

roslaunch pr2_navigation_slam rviz_move_base_slam.launch

rosrun map_server map_saver

Driving on a static map

roslaunch pr2_navigation_global rviz_move_base.launch

rosrun pr2_tuckarm tuckarm.py b

roslaunch map_server map_server FILENAME

roslaunch pr2_2dnav pr2_2dnav.launch

rosparam set /sac_ground_removal/sac_distance_threshold 0.08

Adjust the autonomous navigation speed

/opt/ros/boxturtle/stacks/pr2_navigation/pr2_navigation_global/config

change the max_x_vel and max_rotational_vel parameters. They are 0.55 and 1.0, respectively, in "vanilla" boxturtle. NEVER GO FASTER THAN THIS!!!

Launch the inverse kinematics server

this just does the right arm:

roslaunch launch/pr2_ik_rarm_node.launch

Troubleshooting

Some issues I've run into while using the PR2:

* md5sum mismatch: This usually occurs when using multiple computers (e.g. PR2 and base station or a recorded bag file). It is due to differences in the message versions expected at either end. Make sure you upgrade/downgrade accordingly so that compatible versions of ROS messages are being used at both ends


2024-03-23 13:01