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pr2_navigation_apps: pr2_2dnav | pr2_2dnav_local | pr2_2dnav_slam

Package Summary

This application allows the PR2 to navigate autonomously while also building a map of its environment as it drives along.

pr2_navigation_apps: pr2_2dnav | pr2_2dnav_local | pr2_2dnav_slam

Package Summary

This application allows the PR2 to navigate autonomously while also building a map of its environment as it drives along.

pr2_navigation_apps: pr2_2dnav | pr2_2dnav_local | pr2_2dnav_slam

Package Summary

This application allows the PR2 to navigate autonomously while also building a map of its environment as it drives along.

pr2_navigation_apps: pr2_2dnav | pr2_2dnav_local | pr2_2dnav_slam

Package Summary

This application allows the PR2 to navigate autonomously while also building a map of its environment as it drives along.

Package Summary

This application allows the PR2 to navigate autonomously while also building a map of its environment as it drives along.

Package Summary

This application allows the PR2 to navigate autonomously while also building a map of its environment as it drives along.

Package Summary

This application allows the PR2 to navigate autonomously while also building a map of its environment as it drives along.

Overview

This package provides an application that allows a PR2 robot to navigate autonomously through an environment while also performing SLAM in that environment.

Prerequisites

The pr2_2dnav_slam application requires some prerequisite steps in order to run.

Bring up the Robot

As with all PR2 applications, you must bring up your robot.

Tuck the Arms

Tuck the arms of the PR2 using the pr2_tuckarm application.

Running the Application

The pr2_2dnav_slam application can be run with the following command:

roslaunch pr2_2dnav_slam pr2_2dnav.launch

Interacting with the Application

The navigation stack that is the heart of the pr2_2dnav_slam application can be commanded via rviz, nav_view, or through code.

rviz

  • You can bring up rviz in a pr2_2dnav_slam friendly configuration by running the following launch file:
    roslaunch pr2_navigation_slam rviz_move_base_slam.launch
    • The application is now up and ready to receive goals.
      • Click the "2D Nav Goal" button in the rviz GUI window.
      • Left click on the map at the location of the goal and drag to set orientation.
      • If the robot is surrounded by obstacles, it may not move. Move obstacles or set a new goal to try again.
  • Navigation and rviz tutorial: Provides additional information on using rviz with the navigation stack.

  • You can bring up nav_view in a pr2_2dnav_slam friendly configuration by running the following launch file
    roslaunch pr2_navigation_slam nav_view_move_base_slam.launch
    • The application is now up and ready to receive goals.
      • Click the "Set Goal" button in the nav_view GUI window.
      • Left click on the map at the location of the goal and drag to set orientation.
      • If the robot is surrounded by obstacles, it may not move. Move obstacles or set a new goal to try again.

Through Code

  • A tutorial on sending goals to the navigation stack with code can be found here.

Wiki: pr2_2dnav_slam (last edited 2010-03-03 01:26:13 by EitanMarderEppstein)