Application Summary
The 2dnav_pr2 application makes use of the navigation stack to drive a PR2 robot from one place to another while avoiding obstacles. The application comes with a default configuration that should work well for navigation in a typical office environment. However, the navigation stack exposes many parameters exposed to the user that can be used to tune the navigation stack for a more specific task. For example, one user might want to optimize the behavior of the robot to stay as far away from obstacles as possible and another might want to sacrifice this behavior to handle tight spaces more effectively. To this end, a number of alternate parameter configurations have been included in the 2dnav_pr2 application allowing users of the application to chose the flavor of navigation that best fits their particular task.
For the PR2, there are a number of packages besides the navigation stack itself that are essential to navigation. For example, the "pr2_mechanism_controllers" package contains the low-level controllers needed to convert velocity commands for the base to motor commands and to actuate the tilting laser not present on other robots. This application also encapsulates all the PR2 specific dependencies needed to run the navigation stack on the robot.
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