Only released in EOL distros:   electric fuerte groovy

Overview

This package provides an application that allows a PR2 robot to navigate autonomously through the Willow Garage office environment.

Prerequisites

The wg_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.

Tuck the Arms

Tuck the arms of the PR2 using the pr2_tuckarm application.

Running the Application

The wg_pr2_2dnav application can be run with the following command:

roslaunch wg_pr2_2dnav pr2_2dnav.launch

Interacting with the Application

The navigation stack that is the heart of the wg_pr2_2dnav application can be commanded via rviz, nav_view, or through code.

rviz

• You can bring up rviz in a wg_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 wg_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.