## repository: https://code.ros.org/svn/wg-ros-pkg
<<PackageHeader(pr2_navigation_global)>>
<<TOC(4)>>

== Overview ==
This package contains configuration files for the [[move_base]] and [[amcl]] nodes meant to be run in an application that requires global navigation with a pre-specified static map. This package also includes launch files that bring up [[rviz]] and [[nav_view]] with global navigation specific configurations.

== Applications ==
 * '''`rviz/rviz_move_base.launch`''': Starts [[rviz]] with a global navigation friendly setup.
 * '''`nav_view/nav_view_move_base.launch`''': Starts [[nav_view]] with a global navigation friendly setup.

== Building Blocks ==
 * '''`move_base.xml`''': Holds a PR2 specific configuration of the [[move_base]] node designed for navigation with a pre-specified static map. Should be run in conjunction with the [[amcl]] and [[map_server]] nodes.
 * '''`amcl_node.xml`''': Holds a PR2 specific configuration of the [[amcl]] node. Designed to be included by applications that wish to run [[amcl]] on the PR2. Assumes a map is available from an instance of the [[map_server]] node.

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

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