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You will have to set up a simulation environment that matches your map. I assume that you are using Gazebo for simulating the PR2. To run pr2_2dnav, it's probably easiest to first create a Gazebo world file with your 3D environment and then build a map from that.

For map building, check out this tutorial. For using pr2_2dnav check out this tutorial. It seems like both tutorials are pretty outdated, you will have to replace cturtle by fuerte or electric, and for the latter one you will have to check out and compile the stack wg_robots_gazebo by hand (repository URI: https://code.ros.org/svn/wg-ros-pkg/stacks/wg_robots_gazebo/trunk) but it should contain all configuration files you need.