Overview

This package contains navigation specific sensor configurations for the PR2 robot. Using the configuration files in this package guarantees that the PR2 runs with the sensor profiles and filters recommended for autonomous navigation on the robot.

Building Blocks

  • lasers_and_filters.xml: Ensures that the lasers on the PR2 and the tilt sled are in the proper configuration for autonomous navigation, also brings up a number of filters that are applied to laser scans and point clouds used while navigating.

  • ground_plane.xml: Brings up the ground plane detection node for the PR2 which filters the ground plane out of laser scans used to provide obstacle information to the move_base node.

Configuration Files

  • config/base_self_filter.yaml: The configuration for the pr2_navigation_self_filter that removes parts of the robot body from laser scans coming from the base laser of the PR2.

  • config/point_cloud_footprint_filter.yaml: Removes points that fall within the footprint of the PR2 from point clouds passed to the move_base node.

  • config/tilt_self_filter.yaml: The configuration for the pr2_navigation_self_filter that removes parts of the robot body from laser scans coming from the tilt laser of the PR2.

  • config/tilt_laser_filters.yaml: Holds intensity, angular bounds, and shadow filters for the tilt laser on the PR2.

  • config/shadow_filter.yaml: Holds the shadow filter configuration for the base laser on the PR2.

Wiki: pr2_navigation_perception (last edited 2010-03-02 07:41:56 by EitanMarderEppstein)