Andreas,

First off, I'd suggest that you use CTurtle instead of latest as you'll find
that its a lot more stable . If you want instructions on how to pull a
source install of CTurtle, you can find them here:
http://www.ros.org/wiki/ROS/Installation/Ubuntu/SVN, though you'll have to
replace every instance of "boxturtle" with "cturtle" to pull that
distribution.

As far as sending goals to the navigation stack goes, your problem might be
that you have to tell rviz the correct topic on which to send a goal
message. Since it looks like you're running the PR2 in simulation, I'm going
to suggest that you use the following launch file to bring up rviz in a
navigation friendly configuration: "roslaunch pr2_navigation_global
rviz_move_base.launch." This will bring up helpful visualizations as well as
setting rviz to publish on the move_base_simple/goal topic.

Also, if you just want the navigation stack running on the PR2, and don't
want to configure it yourself, I'd suggest taking a look at the
pr2_2dnav_gazebo package as it holds example files for this.

Hope this helps,

Eitan

On Tue, Jul 13, 2010 at 5:33 AM, Andreas Vogt <andreas.vogt@dfki.de> wrote:

> Hi,
>
> if I set a "2D Nav Goal" in rviz the robot doesn't move and there is no
> published /cmd_vel value. "The 2D Pose Estimation" button works.
> I am using the current shared  installation with:
>
> - svn:
>     uri: https://code.ros.org/svn/ros/stacks/ros/tags/latest
>     local-name: ros
> - svn:
>     uri: https://code.ros.org/svn/wg-ros-pkg/externals/latest
>     local-name: wg-ros-pkg
> - svn:
>     uri: https://code.ros.org/svn/ros-pkg/externals/latest
>     local-name: ros-pkg
>
> Launch file:
>
> <launch>
> <!-- start world -->
> <include file="$(find gazebo_worlds)/launch/office_world.launch"/>
>
> <!-- start controller manager (rviz) -->
> <include file="$(find pr2_controller_manager)/controller_manager.launch"/>
>
> <!-- load  rover -->
> <param name="robot_description" textfile="$(find
> my_controller_pkg)/rover.xml" />
>
> <!-- push robot_description to factory and spawn robot in gazebo -->
> <node name="spawn_single_link" pkg="gazebo_tools" type="gazebo_model"
> args="-p robot_description spawn -z 0.5" respawn="false" output="screen" />
>
>
> <!--include file="$(find pr2_gazebo)/pr2.launch"/-->
>
> <rosparam file="$(find my_controller_pkg)/my_controller.yaml"
> command="load" />
>
> <node pkg="pr2_controller_manager" type="spawner"
> args="my_controller_ns" name="my_controller_spawner" />
>
>
> <!-- Run the map server -->
> <node name="map_server" pkg="map_server" type="map_server" args="$(find
> my_controller_pkg)/config/office.png 0.05"/>
> <node pkg="tf" type="static_transform_publisher"
> name="base_laser_to_base_link" args="0 0 0 0 0 0 base_link base_laser
> 100" />
> <node pkg="tf" type="static_transform_publisher"
> name="base_footprint_to_base_link" args="0 0 0 0 0 0 base_link
> base_footprint  20" />
>
> <!--- Run AMCL -->
> <include file="$(find my_controller_pkg)/config/amcl.xml" />
>
> <node pkg="move_base" type="move_base" respawn="false" name="move_base"
> output="screen">
> <rosparam file="$(find
> my_controller_pkg)/config/costmap_common_params.yaml" command="load"
> ns="global_costmap" />
> <rosparam file="$(find
> my_controller_pkg)/config/costmap_common_params.yaml" command="load"
> ns="local_costmap" />
> <rosparam file="$(find
> my_controller_pkg)/config/local_costmap_params.yaml" command="load" />
> <rosparam file="$(find
> my_controller_pkg)/config/global_costmap_params.yaml" command="load" />
> <rosparam file="$(find
> my_controller_pkg)/config/base_local_planner_params.yaml" command="load" />
> </node>
>
> <!--- Start RVIZ -->
> <node name="rviz" pkg="rviz" type="rviz" respawn="false" output="screen" />
>
> </launch>
>
> Any ideas?
>
> Andreas
>
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