drink_serving: bosch_drawer_executive | busbot_bringup | busbot_description | busbot_driver | busbot_filter | busbot_gazebo | busbot_launch | busbot_navigation | busbot_node | ds_common_msgs | ds_master_executive | ds_pr2_2dnav | ds_pr2_drink_fetching_planner | ds_pr2_drop_drink | ds_pr2_fridge_drink_perception | ds_pr2_fridge_handle_detector | ds_pr2_fridge_manipulation_executive | ds_pr2_fridge_opener | ds_turtle_2dnav | ds_webinterface | keyboard_smooth | keyboard_smooth_safe | marker_detector_tbot | multi_robot_visualization

Package Summary

ds_pr2_2dnav

• Author: Dejan Pangercic
• License: BSD
• Repository: bosch-ros-pkg
• Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/drink_serving/ds_pr2_2dnav

The package provides:

• map of the Bosch RTC facility
• launch file for starting up the pr2_navigation stack
• launch file for starting up the action server which enables sending the robot to different poses in the map frame

Usage:

Start up the pr2_navigation stack:

roslaunch ds_pr2_2dnav drink_demo.launch

Start up the action server:

roslaunch ds_pr2_2dnav move_robot.launch

Definition of the action:

#goal definition
geometry_msgs/PoseStamped pose
---
#result definition
bool success
---
#feedback

Send the robot to the arbitrary pose:

rosrun ds_pr2_2dnav move_robot_client x y z qx qy qz qw