PR2 is the mobile manipulation robot developed by Willow Garage, the developers of ROS. The robot is equipped with two arms and a head with stereo cameras for long and short distances, as well as a tilting laser.
We can install R2 using a Debian binary directly with the following command:
sudo apt-get install ros-fuerte-nasa-r2-simulator
Alternatively, we can install from sources by following these instructions.
To use the PR2 simulator, which uses Gazebo and the URDF model of the PR2 robot, just run the following:
sudo apt-get install ros-groovy-pr2-simulator
This will install several stacks ...