How to run Moveit! with real PR2?

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Hi everyone,

I went through the tutorial about running Moveit! with pr2 gazebo simulator. I wondering how can I run Moveit! with real PR2.

In the tutorial, I have to launch pr2 simulator first and then launch "moveit_planning_execution.launch" as shown in picture !

image description

If I want to run Moveit! with real PR2, can I simply start the real PR2 and just launch "moveit_planning_execution.launch" file?

If not, how can I run Moveit! with real PR2?

Thanks for any help in advance!