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pr2_navigation: laser_tilt_controller_filter | pr2_move_base | pr2_navigation_config | pr2_navigation_global | pr2_navigation_local | pr2_navigation_perception | pr2_navigation_self_filter | pr2_navigation_slam | pr2_navigation_teleop | semantic_point_annotator

Package Summary

This package holds XML files for running the

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 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 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.

Wiki: pr2_navigation_global (last edited 2010-03-02 07:41:30 by EitanMarderEppstein)