Eitan  and Tully,

Thank you.

The synthesis :

$ rosinstall ~/icra10_navigation_ros icra_navigation_gazebo.rosconfig
(using the rosconfig sent by you)

$ source /home/emanuel/icra10_navigation_ros/setup.sh

$ rosmake --rosdep-install icra_navigation_gazebo

$ make test

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$ source /home/emanuel/icra10_navigation_ros/setup.sh

$ export ROBOT=sim

$ roslaunch icra_navigation_gazebo blind_corner.launch

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$ source /home/emanuel/icra10_navigation_ros/setup.sh

$ rosrun icra_navigation_gazebo blind_corner_send_goal.py

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Before to see your message I was trying other thing ...

After launch :

$ roslaunch icra_navigation_gazebo blind_corner.launch

I was trying to activate the controllers. I tried :

$ roslaunch pr2_controller_configuration_gazebo pr2_default_controllers.launch

And tried to send goals with RVIZ

$ roslaunch 2dnav_pr2 rviz_move_base_local.launch

I not was able to move the Robot.

But, I will start to study now the Navigation package
(http://www.ros.org/wiki/navigation ).

Thank you again.

Juracy