Configuration and launch files for using the PR2 robot with force-torque sensors with the MoveIt Motion Planning Framework
Installation and Running
To run this in your PR2, you also need the standard PR2 moveit packages installed (look at the moveit wiki for more details):
sudo apt-get install ros-<ros_distro>-moveit-pr2
To launch the move group node execute the following command in the terminal:
roslaunch pr2_ft_moveit_config move_group.launch
You can change the URDF used in demo.launch by copying your robot's URDF to the urdf/ folder and changing the planning_context.launch launch file.