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--- teaching:se-kiba:manipulation-assignment:gazebo-settings [2013/04/23 08:47] – [And in the third step, he created a robot] bartelsg
+++ teaching:se-kiba:manipulation-assignment:gazebo-settings [2016/05/19 09:19] (current) – external edit 127.0.0.1
@@ Line 25: / Line 25: @@
 ===== And in the third step, he created a robot =====
-  * From pr2_gazebo/launch/pr2_no_controllers: urdf description to parameter server
+We will now cherry-pick various launch-files to create simluations of all necessary processes of the PR2:
-  * From pr2_gazebo/launch/pr2_bringup: Controller manager, Fake Calibration, (Buffer Server)
+  * In our environment package, create an empty launch-file called pr2_lightweight.launch
-  * From pr2_gazebo/launch/pr2.launch: default controllers
+  * From pr2_gazebo/launch/pr2_no_controllers: Copy the parts to send the pr2-urdf to the parameter server, and also the node to spawn the robot in gazebo.
+  * From pr2_gazebo/launch/pr2_bringup: Copy the launch to start the controller manager, and the node which publishes the fake calibration, and Fake Calibration.
+  * From pr2_gazebo/launch/pr2.launch: Copy the launch to to load and start the default controllers.
+  * Hint: Do not forget to add the package dependencies that we now added to the manifest of our package.
+  * For testing, re-compile our environment package. Then launch the empty_world, and in another terminal launch pr2-lightweight. After some time (and lot's of printouts on both consoles) you should see the simulated pr2.
 ===== Putting it all together =====
+Where we combine our launch-files into one for easier access.
+  * In our environment package, create a third launch-file called pr2_lightweight_world.launch
+  * Launch the other two previously created launch-files from it.
+Hint: Now might be a good time push all our commits to github.