Status on arm navigation tutorials
I'm a relative newbie to ROS, and I'm struggling with learning how to use the arm navigation stack in electric. I was wondering if there are any plans to update the arm navigation tutorials...
I realize that the arm navigation API has not changed between diamondback and electric, and that the major changes were adding the Planning Scene and moving some packages around, so theoretically it should be relatively easy to find the files that have been moved.
However, the instructions on how to run a PR2 in simulation seem to have changed. Some of the launch files referenced in the tutorial seem to have been completely removed, as I cannot find them anywhere in the arm navigation stack. Also, I've noticed a couple of cases where new launch files need to be added to run the same tutorial. Some of these have already been asked here, like the addition of the Planning Scene to the Constraint Aware IK tutorial, but there a few more cases. For example, this tutorial sits there waiting for a service that is supposed to be launched by a launch file that no longer exists in electric.
I'm also having trouble visualizing the robot as described in the tutorials, even after I've identified some of the problems. The errors I'm getting involve certain nodes and services not starting correctly, which implies that I'm still missing some launch files.
Also, this is my first experience with the arm navigation stack, so it would be very helpful if there was a more detailed example of how to use the Planning Scene Architecture. The small example Gil posted here yesterday afternoon and the high-level overview of the architecture are very helpful. However, they both hint at a lot more functionality, and it would be very helpful if the tutorials included a more detailed example of how to actually use all of the nifty things that the overview alludes to.
