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Lorenzo,
The planning_components_visualizer is meant to be run in concert with the Arm Navigation Wizard, which will auto-generate all the necessary launch files - they get pretty complicated and will be painful to generate by hand. If you want to use it with the PR2 I'd recommend running this tutorial - [http://www.ros.org/wiki/arm_navigation/Tutorials/Automatically Generating Arm Navigation Configurations/Planning Description Configuration Wizard] - it will tell you how to run it will a copy of the PR2 urdf, and you'll get an auto-generated application that will contain a planning_components_visualizer, as well as an rviz config. You can then also, with a bit of additional work, use the warehouse viewer, which is substantially more general and powerful than the planning_components_visualizer.
Note that by running the tutorial your application will contain a KDL-based numeric IK solver which is not as fast as the PR2 custom solver. You can replace the solver by changing the kinematics solver in your autogenerated constraint_aware_kinematics.launch file from "arm_kinematics_constraint_aware/KDLArmKinematicsPlugin" to "pr2_arm_kinematics/PR2ArmKinematicsPlugin" .
| | 2 | No.2 Revision |
Lorenzo,
The planning_components_visualizer is meant to be run in concert with the Arm Navigation Wizard, which will auto-generate all the necessary launch files - they get pretty complicated and will be painful to generate by hand. If you want to use it with the PR2 I'd recommend running this tutorial - [http://www.ros.org/wiki/arm_navigation/Tutorials/Automatically Generating Arm Navigation Configurations/Planning Description Configuration Wizard] Wizard - it will tell you how to run it will a copy of the PR2 urdf, and you'll get an auto-generated application that will contain a planning_components_visualizer, as well as an rviz config. You can then also, with a bit of additional work, use the warehouse viewer, which is substantially more general and powerful than the planning_components_visualizer.
Note that by running the tutorial your application will contain a KDL-based numeric IK solver which is not as fast as the PR2 custom solver. You can replace the solver by changing the kinematics solver in your autogenerated constraint_aware_kinematics.launch file from "arm_kinematics_constraint_aware/KDLArmKinematicsPlugin" to "pr2_arm_kinematics/PR2ArmKinematicsPlugin" .
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