How can i spawn pr2 on gazebo ?

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Hi even though, ROS NOETIC is not currently offered, it's possible to build it from source, with a bit of work. Please refer to this tutorial: https://github.com/robogeekcanada/pr2...

Added the steps based on @gvdhoom feedback:

Install Dependencies for SDformat:

Reference: http://sdformat.org/tutorials?tut=ins...

$ sudo apt-get install ruby-dev build-essential libtinyxml-dev libboost-all-dev cmake mercurial pkg-config

$ sudo apt-get install libignition-math4-dev

Building SDformat:

Reference: http://sdformat.org/

MAKE SURE TO BE IN THE HOME DIRECTORY

$ cd

$ mkdir ~/sdf_source

$ cd ~/sdf_source/

$ git clone https://github.com/osrf/sdformat

$ cd sdformat

$ git checkout sdf6

$ mkdir build

$ cd build

$ cmake .. -DCMAKE_INSTALL_PREFIX=/usr

$ make -j4

$ make install

If error, try $ sudo make install

Install ROS Convex Decomposition

Reference: http://wiki.ros.org/convex_decomposition

MAKE SURE TO BE IN THE HOME DIRECTORY

$ cd

$ mkdir convex_ws

$ cd convex_ws/

$ mkdir src

$ cd src/

$ git clone https://github.com/ros/convex_decomposition.git

$ cd ..

$ catkin_make

$ echo 'source ~/convex_ws/devel/setup.bash'>>~/.bashrc

$ source ~/.bashrc

Install ROS ivcon

Reference: http://wiki.ros.org/ivcon

MAKE SURE TO BE IN THE HOME DIRECTORY

$ cd

$ mkdir ivcon_ws

$ cd ivcon_ws/

$ mkdir src

$ cd src/

$ git clone https://github.com/ros/ivcon.git

$ cd ..

$ catkin_make

$ echo 'source ~/ivcon_ws/devel/setup.bash'>>~/.bashrc

$ source ~/.bashrc

Create workspace for PR2:

MAKE SURE TO BE IN THE HOME DIRECTORY

$ cd

$ mkdir pr2_ws

$ cd pr2_ws/

$ mkdir src

$ cd src/

$ git clone -b noetic-devel https://github.com/PR2/pr2_simulator.git

$ git clone https://github.com/PR2/pr2_mechanism.git

$ git clone https://github.com/PR2/pr2_common.git

$ git clone https://github.com/PR2/pr2_mechanism_msgs.git

$ cd ..

$ catkin_make

Compiling troubleshooting:

If error with sdformat, we will need to make changes to CMakeLists.txt file in pr2_gazebo_plugins/

Reference: https://github.com/PR2/pr2_simulator/...

Go to: pr2_gazebo_plugins/CMakeLists.txt

$ cd ~/pr2_ws/src/pr2_simulator/pr2_gazebo_plugins

$ gedit CMakeLists.txt

Remove red lines, add the green lines. Save and exit file, compile again,

$ cd ~/pr2_ws/

$ catkin_make

If compiling fails due to C++ version, modify CMakeLists.txt in ~/pr2_ws/src/

$ sudo gedit CMakeLists.txt

Add to CMakeLists.txt file as shown in picture below

set(CMAKE_CXX_STANDARD 17)

set(CMAKE_CXX_STANDARD_REQUIRED ON)

set(CMAKE_CXX_EXTENSIONS OFF)

Compile again:

$ cd ~/pr2_ws

$ catkin_make

When compiling is successful, then complete installation by:

$ echo 'source ~/pr2_ws/devel/setup.bash'>>~/.bashrc

$ source ~/.bashrc

Testing PR2 Simulator is working:

Reference: http://wiki.ros.org/pr2_simulator/Tut...

T1:

$ roscore

T2

$ roslaunch gazebo_ros empty_world.launch

T3

$ roslaunch pr2_gazebo pr2.launch

HAPPY CODING!!

Hope it helps.