It's not clear to me whether you want to design primers or if you already have a set of primers and want to match them against a genome to find the theoretical locations of the amplicons. If the fomer, check out the DECIPHER package which provides tools for primer design:
If the latter, please have a look at matchProbePair() in the Biostrings package. See ?matchProbePair (after doing library(Biostrings)) for more information.
H.
PS: FWIW you can create your GRanges object gr with just: