## repository: https://code.ros.org/svn/wg-ros-pkg
<<PackageHeader(pr2_2dnav)>>
<<TOC(4)>>

== Overview ==
This package provides an application that allows a PR2 robot to navigate autonomously through a previously mapped environment.

== Prerequisites ==
The pr2_2dnav application requires some prerequisite steps in order to run.

=== Bring up the Robot ===
As with all PR2 applications, you must [[pr2_apps#bringup | bring up your robot]].

=== Provide a Map ===
This application assumes that a map is provided. Please see documentation on the [[map_server]] for information on providing a map over ROS.

=== Tuck the Arms ===
Tuck the arms of the PR2 using the [[pr2_tuckarm | pr2_tuckarm application]].

== Running the Application ==
The [[pr2_2dnav]] application can be run with the following command:

{{{
roslaunch pr2_2dnav pr2_2dnav.launch
}}}


== Interacting with the Application ==
The [[navigation]] stack that is the heart of the pr2_2dnav application can be commanded via [[rviz]], [[nav_view]], or through code.


=== rviz ===
 * You can bring up rviz in a pr2_2dnav friendly configuration by running the following launch file:
 {{{
roslaunch pr2_navigation_global rviz_move_base.launch
 }}}
  * In the rviz window that pops up, you'll need to set the pose of the robot.
   * Take note of where the robot is in the world.
   * Right click and drag to zoom on the map.
   * Click the "2D Pose Estimate" button in the rviz GUI window.
   * Left click on the map at the location of the robot and drag to set orientation.
   * Verify that the scans from the base laser of the robot match up fairly well with the map of the environment.

  * 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/Tutorials/Using rviz with the Navigation Stack | Navigation and rviz tutorial]]: Provides additional information on using [[rviz]] with the [[navigation]] stack. 

=== nav_view ===
  * You can bring up nav_view in a pr2_2dnav friendly configuration by running the following launch file
  {{{
roslaunch pr2_navigation_global nav_view_move_base.launch
  }}}
   * In the nav_view window that pops up, you'll need to set the pose of the robot.
    * Take note of where the robot is in the world.
    * Right click and drag to zoom on the map.
    * Click the "Set Pose" button in the nav_view GUI window.
    * Left click on the map at the location of the robot and drag to set orientation.
    * Verify that the scans from the base laser of the robot match up fairly well with the map of the environment.

   * 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 [[navigation/Tutorials/SendingSimpleGoals | here]].

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