pr2_navigation_app

App the RobotWebServer that allows saving location of the PR2 in the map (compatible with RoboFlow)

Installation instructions:

The following packages need to be installed on the system:

• pr2_2dnav
• robot_pose_publisher
• map_server
• tf2_web_republisher
• rosbridge_server

An accurate map of the area is also required. The path to map can be specified in the app.launch file.

There was a problem with using pr2_2dnav on hydro with nodes not being found. If the problem persists (should be fixed in the next deb update), copy bin folders from groovy to hydro for pr2_navigation_self_filter and semantic_point_annotator.

Launching the app:

If launching the app on its own (not as part of RWS): on the robot, run

roslaunch rws_pr2_navigation app.launch

and

roslaunch rws_pr2_navigation websocket.launch

and

rosrun rws_pr2_navigation http_server.py

Then open http://c1.cs.washington.edu:8000/ in the browser of your choice.