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Sonya Alexandrova, Justin Huang, Sarah Elliott and Maya Cakmak , University of Washington
This app allows you to save locations on the map and make the robot navigate to those locations. Your map may look different than the one below!
The dashboard at the top of the app shows notifications about the status of the robot. There are the following notifications:
- The PR2 is plugged in. Please unplug the PR2 before attempting navigation. The cable for the PR2 is plugged in, making it dangerous to navigate. Unplug the cable from the outlet side, then from the robot side.
- The PR2 pose is not set. Please set the PR2 pose on the map. The robot doesn't know where it is located on the map. Select Initialize robot pose in the map controls below, then click on the map on the spot where the robot is currently located and drag to set the robot's orientation.
- The PR2 is not localized. Navigation may not work properly. The robot is not very sure of its location. If you see this warning and navigation does not work, try setting a more accurate robot location on the map (see above). If that still doesn't work, open a terminal, execute the command realrobot, then execute the command roslaunch pr2_navigation_global rviz_move_base.launch. In the rviz window that pops up, you'll need to set the pose of the robot.
- Take note of where the robot is in the world.
- Right click and drag to zoom on the map.
- Click the "2D Pose Estimate" button in the rviz GUI window.
- Left click on the map at the location of the robot and drag to set orientation.
- Verify that the scans from the base laser of the robot (the white lines) match up fairly well with the map of the environment. (It's easiest to see with a top-down view.)
Saved locations shows the list of locations that are saved in the system. The currently selected location is colored dark grey. A location is the combination of the pose and orientation on the map and the name for it (e.g. "in front of the kitchen table").
The buttons work as follows:
- Delete this location Deletes the currently selected location. This action cannot be undone.
- Navigate to this location Makes the robot drive to the currently selected location.
- Rename location Changes the name of the currently selected location.
- Set location to the current pose Stores the current pose of the robot in the currently selected location (the previous value of the location will be overwritten).
- Create new location Adds a new location to the list, initialized to the current pose of the robot.
The map allows you to specify a pose and an orientation on the map by clicking and dragging. The map has 3 modes:
- Navigate The robot will navigate to the specified pose and orientation.
- Initialize robot pose This will provide an initial pose for the robot (use this if you have warnings in the dashboard described above).
- Set location The specified pose and orientation will be stored in the currently selected location (the previous value of this location will be overwritten).