pr2_2dnav_gazebo Documentation

pr2_2dnav_gazebo

A clone of 2-D navigation stack \b rosstage using a 3D simulation environment.

Homepage: http://pr.willowgarage.com/wiki/Simulator

Demos for running high fidelity 3D gazebo simulation with 2dnav-stack.

• Example launch script pr2-empty-amcl.launch:

  1. <launch>
       <!-- start up empty world -->
       <include file="$(find gazebo)/launch/empty_world.launch"/>
       <!-- start up robot -->
       <include file="$(find pr2_gazebo)/pr2.launch"/>
       <!-- Tug Arms For Navigation -->
       <node pkg="pr2_tuckarm" type="tuckarm.py" args="l" output="screen" />
       <node pkg="pr2_tuckarm" type="tuckarm.py" args="r" output="screen" />
       <!-- load map -->
       <node pkg="map_server" type="map_server" args="$(find gazebo_worlds)/Media/materials/textures/map_blank.png 0.1" respawn="true" />
       <!-- nav-stack -->
       <include file="$(find pr2_2dnav_gazebo)/2dnav-stack-amcl.launch"/>
     </launch>