Andreas,<br><br>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: <a href="http://www.ros.org/wiki/ROS/Installation/Ubuntu/SVN">http://www.ros.org/wiki/ROS/Installation/Ubuntu/SVN</a>, though you'll have to replace every instance of "boxturtle" with "cturtle" to pull that distribution.<br>
<br>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.<br>
<br>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.<br><br>Hope this helps,<br>
<br>Eitan<br><br><div class="gmail_quote">On Tue, Jul 13, 2010 at 5:33 AM, Andreas Vogt <span dir="ltr"><<a href="mailto:andreas.vogt@dfki.de">andreas.vogt@dfki.de</a>></span> wrote:<br><blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">
Hi,<br>
<br>
if I set a "2D Nav Goal" in rviz the robot doesn't move and there is no<br>
published /cmd_vel value. "The 2D Pose Estimation" button works.<br>
I am using the current shared installation with:<br>
<br>
- svn:<br>
uri: <a href="https://code.ros.org/svn/ros/stacks/ros/tags/latest" target="_blank">https://code.ros.org/svn/ros/stacks/ros/tags/latest</a><br>
local-name: ros<br>
- svn:<br>
uri: <a href="https://code.ros.org/svn/wg-ros-pkg/externals/latest" target="_blank">https://code.ros.org/svn/wg-ros-pkg/externals/latest</a><br>
local-name: wg-ros-pkg<br>
- svn:<br>
uri: <a href="https://code.ros.org/svn/ros-pkg/externals/latest" target="_blank">https://code.ros.org/svn/ros-pkg/externals/latest</a><br>
local-name: ros-pkg<br>
<br>
Launch file:<br>
<br>
<launch><br>
<!-- start world --><br>
<include file="$(find gazebo_worlds)/launch/office_world.launch"/><br>
<br>
<!-- start controller manager (rviz) --><br>
<include file="$(find pr2_controller_manager)/controller_manager.launch"/><br>
<br>
<!-- load rover --><br>
<param name="robot_description" textfile="$(find<br>
my_controller_pkg)/rover.xml" /><br>
<br>
<!-- push robot_description to factory and spawn robot in gazebo --><br>
<node name="spawn_single_link" pkg="gazebo_tools" type="gazebo_model"<br>
args="-p robot_description spawn -z 0.5" respawn="false" output="screen" /><br>
<br>
<br>
<!--include file="$(find pr2_gazebo)/pr2.launch"/--><br>
<br>
<rosparam file="$(find my_controller_pkg)/my_controller.yaml"<br>
command="load" /><br>
<br>
<node pkg="pr2_controller_manager" type="spawner"<br>
args="my_controller_ns" name="my_controller_spawner" /><br>
<br>
<br>
<!-- Run the map server --><br>
<node name="map_server" pkg="map_server" type="map_server" args="$(find<br>
my_controller_pkg)/config/office.png 0.05"/><br>
<node pkg="tf" type="static_transform_publisher"<br>
name="base_laser_to_base_link" args="0 0 0 0 0 0 base_link base_laser<br>
100" /><br>
<node pkg="tf" type="static_transform_publisher"<br>
name="base_footprint_to_base_link" args="0 0 0 0 0 0 base_link<br>
base_footprint 20" /><br>
<br>
<!--- Run AMCL --><br>
<include file="$(find my_controller_pkg)/config/amcl.xml" /><br>
<br>
<node pkg="move_base" type="move_base" respawn="false" name="move_base"<br>
output="screen"><br>
<rosparam file="$(find<br>
my_controller_pkg)/config/costmap_common_params.yaml" command="load"<br>
ns="global_costmap" /><br>
<rosparam file="$(find<br>
my_controller_pkg)/config/costmap_common_params.yaml" command="load"<br>
ns="local_costmap" /><br>
<rosparam file="$(find<br>
my_controller_pkg)/config/local_costmap_params.yaml" command="load" /><br>
<rosparam file="$(find<br>
my_controller_pkg)/config/global_costmap_params.yaml" command="load" /><br>
<rosparam file="$(find<br>
my_controller_pkg)/config/base_local_planner_params.yaml" command="load" /><br>
</node><br>
<br>
<!--- Start RVIZ --><br>
<node name="rviz" pkg="rviz" type="rviz" respawn="false" output="screen" /><br>
<br>
</launch><br>
<br>
Any ideas?<br>
<br>
Andreas<br>
<br>
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</blockquote></div><br>