MoveIt! PR2

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 0xB01FA116
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116
sudo apt-get update
sudo apt-get install ros-indigo-pr2*

git clone https://github.com/pr2[/code] 运行：
roslaunch pr2_gazebo pr2_empty_world.launch
rosrun pr2_controller_manager pr2_controller_manager list
停止r_arm_controller使用下面的命令：
rosrun pr2_controller_manager pr2_controller_manager stop r_arm_controller
编辑Gazebo控制器：略增加键盘控制：
git clone https://github.com/pr2/pr2_apps.git sudo apt-get install ros-indigo-turtlebot-apps
rostopic echo joint_states | less
rosmake pr2_teleop
roslaunch pr2_teleop teleop_pr2_keyboard.launch
运行命令：
sudo apt-get install ros-indigo-moveit-pr2
安装PR2的MoveIt相关的包
sudo apt-get install ros-indigo-moveit-full-pr2
更新环境：
source /opt/ros/indigo/setup.bash
安装MoveIt
sudo apt-get install ros-indigo-moveit-full
setup配置使用MoveIt!的第一步是要使用 Setup Assistant工具完成一些配置工作。Setup Assistant会根据用户导入的机器人的urdf模型，生成SRDF( Semantic Robot Description Format)文件，从而生成一个MoveIt!的功能包，来完成机器人的互动、可视化和仿真。首先，来运行setup assistant：
roscore
rosrun moveit_setup_assistant moveit_setup_assistant
按教程设置：http://www.ncnynl.com/archives/201610/1030.html
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
roslaunch pr2_moveit_config_new demo.launch
碰撞检测：
roscd pr2_moveit_config_new
mkdir pr2_scenes
gedit  pr2_scenes/pr2_pillar.scene