Tutorial on PR2 simulation in Electric or Fuerte?

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The tutorial here works with Fuerte using the ros-fuerete-pr2 Ubuntu packages http://www.ros.org/wiki/pr2_simulator/Tutorials/BasicPR2Controls

Assuming you have set up the ROS environment, e.g.

  source /opt/ros/fuerte/setup.bash

Then running the following commands should bring up a simulation in an empty world.

  export ROBOT=sim
  roslaunch pr2_gazebo pr2_empty_world.launch

Then you can start keyboard teleop to drive it around

  roslaunch pr2_teleop teleop_keyboard.launch