[Documentation] [TitleIndex] [WordIndex


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


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.


Through Code

2024-07-20 14:47