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

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!

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

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!

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

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!

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

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!