Hi, John:

Sorry to bother you again.

1) 
I checked out pr2_2dnav_gazebo and put it under the corresponding folder of my installed ROS.
say:   /opt/ros/cturtle/stacks/wg_robots_gezebo/pr2_2dnav_gazebo

When I do roslaunch
"roslaunch pr2_2dnav_gazebo pr2-armless-wg-fake_localization.launch"
I got 'ROBOT' is not set

jiapei@jiapei-laptop:/opt/ros/cturtle/stacks/wg_robots_gezebo$ roslaunch pr2_2dnav_gazebo pr2-armless-wg-fake_localization.launch
... logging to /home/jiapei/.ros/log/73e7b77a-bd42-11df-8314-0040d0a919ff/roslaunch-jiapei-laptop-4044.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

environment variable 'ROBOT' is not set


Then, I set 'ROBOT' as "PR2" (I just guessed this, how to set this environment variable? )
This time, I obtained  "Invalid roslaunch XML syntax: [Errno 2] No such file or directory" .

jiapei@jiapei-laptop:/opt/ros/cturtle/stacks/wg_robots_gezebo$ export ROBOT=PR2
jiapei@jiapei-laptop:/opt/ros/cturtle/stacks/wg_robots_gezebo$ roslaunch pr2_2dnav_gazebo pr2-armless-wg-fake_localization.launch
... logging to /home/jiapei/.ros/log/db1290a0-bd42-11df-b443-0040d0a919ff/roslaunch-jiapei-laptop-4091.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

while processing /opt/ros/cturtle/stacks/wg_robots_gezebo/pr2_2dnav_gazebo/2dnav-stack-fake_localization.launch:
while processing /opt/ros/cturtle/stacks/pr2_navigation/pr2_navigation_global/move_base.xml:                         
while processing /opt/ros/cturtle/stacks/pr2_common/pr2_machine/PR2.machine:                                         
Invalid roslaunch XML syntax: [Errno 2] No such file or directory: u'/opt/ros/cturtle/stacks/pr2_common/pr2_machine/PR2.machine'  


So, my first question is: How to set 'ROBOT'  for this pr2 2D navigation simulation?


2) My 2nd question is I found I've installed  "ros-cturtle-simulator-gazebo",
I'm wondering what are the connections between "pr2_2dnav_gazebo" and "ros-cturtle-simulator-gazebo" ?
And, why "pr2_2dnav_gazebo" is not packaged into Ubuntu repository for automatic installation?

By the way, from the name of "ros-cturtle-simulator-gazebo",
I'm guessing, by using "ros-cturtle-simulator-gazebo" only,
am I able to simulate the robots navigation already, without checking out "pr2_2dnav_gazebo" ?
Or, "ros" refers to the system without specifying a particular robot,
while "pr2" is a specific robot.
We have to specify a type of robot before its navigation?

Sorry for my entry-level questions, but I really need your help.


Best Regards
JIA



On Sat, Sep 11, 2010 at 1:32 AM, John Hsu <johnhsu@willowgarage.com> wrote:
Hi JIA,
Sorry, my mistake, wg-ros-pkg trunk has been moved to branches/trunk_cturtle.  I've updated the svn command accordingly:
svn co  https://code.ros.org/svn/wg-ros-pkg/branches/trunk_cturtle/stacks/wg_robots_gazebo/pr2_2dnav_gazebo

John



On Fri, Sep 10, 2010 at 5:05 AM, JIA Pei <jp4work@gmail.com> wrote:

Hi, John:

Sorry that I couldn't make it work yet.
It seems I'm not able to check out "pr2_2dnav_gazebo".

jiapei@jiapei-laptop:~$


Any further suggestions?


Best Regards
JIA


On Fri, Sep 10, 2010 at 5:31 AM, John Hsu <johnhsu@willowgarage.com> wrote:
Hi JIA,
I've fixed the tutorial page to include where to get pr2_2dnav_gazebo.
Please let me know if you can test the nav stack successfully in sim.
thanks,
John



On Thu, Sep 9, 2010 at 6:46 AM, JIA Pei <jp4work@gmail.com> wrote:

Hi, all:

Sorry for my amateur question.

I'd love to try out some simple robot control demos of ROS.
So, I went to http://www.ros.org/wiki/AllTutorials and tried pr2_simulator,
but it seems the tutorials here are too old and 
I failed to find pr2_2dnav_gazebo (but pr2_2dnav found),
and pr2-simple-fake_localization.launch doesn't existing at all.

So, can anybody please show me 
where to find a runnable robot navigation or robot control demo of ROS,
including the source code, 
so that I may be able to revise the source according to my own control requirement?

Thanks in advance.

Best Regards
JIA








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