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.