Show EOL distros: 

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 launch files for running the move_base node in conjunction with [[gmapping | SLAM]] on a PR2 robot.

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 launch files for running the move_base node in conjunction with [[gmapping | SLAM]] on a PR2 robot.

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 launch files for running the

Overview

This package contains configuration files for the move_base and gmapping nodes meant to be run in an application that requires SLAM-based global navigation. This package also includes launch files that bring up rviz and nav_view with global navigation specific configuration options.

Applications

  • rviz/rviz_move_base_slam.launch: Starts rviz with a SLAM friendly navigation setup.

  • nav_view/nav_view_move_base_slam.launch: Starts nav_view with a SLAM friendly navigation setup.

Building Blocks

  • move_base.xml: Holds a PR2 specific configuration of the move_base node designed fow navigation with a SLAM system. Should be run in conjunction with gmapping or another SLAM system with a similar interface.

  • slam_gmapping.xml: Holds a PR2 specific configuration of the gmapping node. Designed to be included by applications that wish to run gmapping on the PR2.

Configuration Files

  • config/base_local_planner_params.yaml: Holds parameters for the base_local_planner specific to SLAM-based navigation on the PR2.

  • config/global_costmap_params.yaml: Holds parameters for the global costmap used in thee move_base.xml configuration file. This is the costmap used by the navfn planner, and in this case, receives periodic updates from a SLAM system such as gmapping.

  • 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.

  • config/move_base_params.yaml: Holds SLAM-based navigation specific parameters for the move_base node.

Wiki: pr2_navigation_slam (last edited 2010-03-02 07:42:25 by EitanMarderEppstein)