Thanks John, much appreciated ! <br><br><div class="gmail_quote">On 21 July 2010 23:41, John Hsu <span dir="ltr">&lt;<a href="mailto:johnhsu@willowgarage.com">johnhsu@willowgarage.com</a>&gt;</span> wrote:<br><blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">

great!  Just a headsup when running headless, to visualize robot dynamics using rviz, make sure gazebo_ros_controller_manager plugin is included and start a robot_state_publisher node by roslaunching pr2_controller_manager controller_manager.launch.<br>

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John<br></font></blockquote></div><br>