How to let PR2 do 2D navigation without left arm? [closed]

asked 2013-04-18 20:28:03 -0600

updated 2014-11-22 17:05:26 -0600

ngrennan gravatar image

I want to let a real PR2 robot to do the navigation by executing these command

On PR2:

 roslaunch pr2_2dnav_slam pr2_2dnav.launch

On my host computer:

 export ROS_MASTER_URI & ROS_HOSTNAME (since the master is PR2)
 roslaunch pr2_navigation_slam rviz_move_base_slam.launch

However, there are some problems with the left arm motor so that I need to halt the motors in left arm. Although PR2 can do calibration, but PR2 can not do navigation. (I can set the 2D goal in Rviz, but the robot wouldn't follow the path. The errors indicated that the transforms from left arm motors are problematic)

Does anyone knows how to run this navigation package without left arm?

Thanks!

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2015-12-12 01:23:06.542059

Comments

Why do you need to halt the left arm motors ? If the arms are occlusing the 3D scanner, you can tuck them (pr2_tuckarm package).

Erwan R. gravatar imageErwan R. ( 2013-04-18 23:01:00 -0600 )edit

The motors in left arm are problematic so that I need to halt them. But after I halted them, the navigation would not succeed.

Po-Jen Lai gravatar imagePo-Jen Lai ( 2013-04-19 01:23:00 -0600 )edit

Please provide the actual error messages if you want help figuring out what the problem is.

tfoote gravatar imagetfoote ( 2013-05-06 13:37:14 -0600 )edit

Sorry for not providing actual message. We already tested navigation with some nodes disabled, and the navigation works. Maybe we can share how to do it.(But this is not recommended)

Po-Jen Lai gravatar imagePo-Jen Lai ( 2013-05-06 17:04:37 -0600 )edit