## repository: https://code.ros.org/svn/wg-ros-pkg
<<PackageHeader(pr2_navigation_local)>>
<<TOC(4)>>

== Overview ==
This package contains configuration files for the [[move_base]] node meant to be run in an application that requires navigation in an odometric frame. This package also includes launch files that bring up [[rviz]] and [[nav_view]] with local navigation specific configurations.

== Applications ==
 * '''`rviz/rviz_move_base_local.launch`''': Starts [[rviz]] with a local navigation friendly setup.
 * '''`nav_view/nav_view_move_base_local.launch`''': Starts [[nav_view]] with a local navigation friendly setup.

== Building Blocks ==
 * '''`move_base_local.xml`''': Holds a PR2 specific configuration of the [[move_base]] node designed for navigation without a map in an odometric frame.

== Configuration Files ==
 * '''`config/global_costmap_params.yaml`''': Holds parameters for the global [[costmap_2d | costmap]] used in the `move_base_local.xml` configuration file. This is the [[costmap_2d | costmap]] used by the [[navfn]] planner and, in this case, operates in an odometric frame.
 * '''`config/base_local_planner_params.yaml`''': Holds parameters for the [[base_local_planner]] specific to local navigation on the PR2.
 * '''`config/local_costmap_params.yaml`''': Holds parameters for the local [[costmap_2d | costmap]] used in the `move_base_local.xml` configuration file. This is the [[costmap_2d | costmap]] used by the [[base_local_planner]] planner, and operates in an odometric frame.
 * '''`config/move_base_params.yaml`''': Holds local navigation specific parameters for the [[move_base]] node.

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