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This stack holds a number of navigation specific applications for the PR2. These applications can be run on the PR2 hardware, or in simulation. The current set of applications in this stack consists of:

• pr2_2dnav: Autonomous navigation assuming a pre-specified static map.

• pr2_2dnav_local: Autonomous navigation in an odometric frame with no need for a map.

• pr2_2dnav_slam: Autonomous navigation combined with a SLAM system that builds a map as the robot moves about the world.

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