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 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 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 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 here.