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This package provides an application that allows a PR2 robot to navigate autonomously through an environment while also performing SLAM in that environment.


The pr2_2dnav_slam 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 pr2_2dnav_slam application can be run with the following command:

roslaunch pr2_2dnav_slam pr2_2dnav.launch

Interacting with the Application

The navigation stack that is the heart of the pr2_2dnav_slam application can be commanded via rviz, nav_view, or through code.


Through Code

2024-07-20 13:24