Overview
This package contains configuration files for the move_base and gmapping nodes meant to be run in an application that requires SLAM-based global navigation. This package also includes launch files that bring up rviz and nav_view with global navigation specific configuration options.
Applications
rviz/rviz_move_base_slam.launch: Starts rviz with a SLAM friendly navigation setup.
nav_view/nav_view_move_base_slam.launch: Starts nav_view with a SLAM friendly navigation setup.
Building Blocks
move_base.xml: Holds a PR2 specific configuration of the move_base node designed fow navigation with a SLAM system. Should be run in conjunction with gmapping or another SLAM system with a similar interface.
slam_gmapping.xml: Holds a PR2 specific configuration of the gmapping node. Designed to be included by applications that wish to run gmapping on the PR2.
Configuration Files
config/base_local_planner_params.yaml: Holds parameters for the base_local_planner specific to SLAM-based navigation on the PR2.
config/global_costmap_params.yaml: Holds parameters for the global costmap used in thee move_base.xml configuration file. This is the costmap used by the navfn planner, and in this case, receives periodic updates from a SLAM system such as gmapping.
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.
config/move_base_params.yaml: Holds SLAM-based navigation specific parameters for the move_base node.