Overview

This package holds a number of common configuration files for the move_base node on the PR2 robot. In particular, it holds parameter settings for the base_local_planner, costmap_2d, and move_base components of the move_base node that are shared between many different configurations of the navigation stack run on the PR2.

Configuration Files

• move_base/base_local_planner_params.yaml: Parameters for the base_local_planner that work well on the PR2 and are shared between many different move_base configurations.

• move_base/costmap_common_params.yaml: Holds the sensor configuration for the costmap's run on the PR2. This configuration assumes that the robot is being run with the sensors and filters specified in the pr2_navigation_perception package.

• move_base/move_base_params.yaml: Holds the PR2 robot footprint specification and common parameters for move_base.