Using the pre-existing Gazebo PR2 simulation in Noetic and after clicking on the play button, I tried to move the base with the following command:
rostopic pub /base_pose_ground_truth geometry_msgs/Twist '{linear: {x: 0.5, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}
Hi Kavita,
there is a big confusion here somewhere. This rosject that you are sharing is nothing related to PR2.
Also I see two problems inside the notebook of the rosject:
you are not launching any simulation (at least, the notebook doesn’t indicate to launch any). Hence, the Twist command cannot work
the rostopic pub command above and in the notebook lacks a final quotation mark (’)
The /base_pose_ground_truth doesn’t look like a speed topic so that must be incorrect too
Then I don’t understand what do you want to do.
I’m contacting you by email and putting my personal time to solve this problem once and for all because I know you have been with this problem for a long time. Let’s solve it right now!
Challenge 3: Inverse kinematics for the PR2 arms in Noetic
Goal 3: Point-and-click and compute inverse kinematics for the tip link of the PR2 arm, not sure if there is an example for PR2.
Hi Kavi, I replied some weeks ago by email. Then again a couple of weeks ago by email. I asked you for an online meeting several times, to teach you about that because I think there are some misunderstandings in your questions.
Can we have that online meeting, please? I really want to help you