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{{{#!wiki version electric
electric files are no longer on hg, they can be found here: https://github.com/PR2/
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{{{#!wiki version fuerte
fuerte files are no longer on hg, they can be found here: https://github.com/PR2/
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{{{#!wiki version groovy
groovy files are no longer on hg, they can be found here:
https://github.com/PR2/
}}}

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== Overview ==
The pr2_navigation stack provides configuration files for running the
[[navigation]] stack on a PR2 robot in a number of common configurations. For
example, the [[pr2_navigation_local]] package holds files that configure the
[[move_base]] node to operate in an odometric frame, and the
[[pr2_navigation_perception]] package holds files that configure the sensors on
the PR2 for autonomous navigation. These configuration files are intended for
use as building blocks for applications that wish to use autonomous navigation
as a component.

== Documentation ==
There are three major sections to the documentation of the packages in this stack:
 * '''Applications''': These are launch files that are meant to run as standalone applications. For this stack, they mostly bring up debugging tools in useful configurations.
 * '''Building Blocks''': These are launch files that are intended for inclusion in applications. They can be mixed and matched in order to make applications with similar components that perform different functions.
 * '''Configuration Files''': These are YAML or XML files that hold common configuration options for the [[navigation]] stack on the PR2. They can be included in launch files for applications.

The following stacks provide detailed documentation of the parameters and nodes used in the pr2_navigation stack:

 * [[navigation]]
 * [[slam_gmapping]]


== Report a Bug ==

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