Noetic PR2 Launch from Shell

[kavi1]

I’d like to launch the robot and in the world in Gazebo in the shell, without clicking on the icon and menus to choose the robot and a world with clicking buttons. I performed the following steps and it did not work:

1. source ~/simulation_ws/devel/setup.bash
2. export ROS_PACKAGE_PATH=/home/user/simulation_ws/src/:/home/simulations/public_sim_ws/src:/opt/ros/kinetic/share
3. echo $ROS_PACKAGE_PATH
4. roslaunch pr2_description robot_control.launch

RLException: [robot_control.launch] is neither a launch file in package [pr2_description] nor is [pr2_description] a launch file name
The traceback for the exception was written to the log file

Please advise a way to resolve this challenge.

Thank you!

[albertoezquerro]

Hello @kavi1 ,

Well, this error basically says that either you don’t have a package named pr2_description in your rosject, or you don’t have a launch file named robot_control.launch in the pr2_description package.
Make sure that you have the expected simulation packages/files in your rosject.

[kavi1]

@albertoezquerro Thank you. Yes, I understand.

Where are the files located in the shared Noetic Gazebo Model? Please note that these are existing files. when we create a rosject in Noetic.

I would like to just type the command in the shell instead of clicking on the buttons to launch gazebo. Please help. Thank you

[duckfrost2]

@kavi1

/home/simulations/public_sim_ws/src

Hi,

As Alberto said, in an empty ROSject ( which is what I supose you are launching ) , the pr2_description is not in the accesible part of the system.

Here you have a Pr2 simulation in ROsject form : https://app.theconstructsim.com/#/l/4079b47c/

Here you can launch the PR2 through the command line and have a rich environment for Perception training:

roslaunch pr2_tc_gazebo main.launch

Hope it helps