PCA with Catagorical Variable in R
No, there aren't.  I wish there were.  It would make life a lot easier.  

A categorical variable is just that:  a category.  It might be represented by a number but it cannot be treated like one.  For example, if you have a list of cars with their colors, and the colors are denoted this way:

1 = red
2 = blue
3 = green


you can't really work with them as numbers.  You can't say that blue is the average color, for instance, because the average of 1 + 2 + 3 is 2.

What you can do is create dummy variables, usually a 0 and 1, which then describe the category.  In our example:

0 = not red
1 = red


You can then create dummies for the other colors along similar lines:

0 = not blue
1 = blue


and

0 = not green
1 = green


This can be done across different columns to make things easier.  It's all part of the mungification of data, getting it into shape so you can run an analysis.