The package provides:

• map of the Bosch RTC facility
• launch file for starting up the pr2_navigation stack
• launch file for starting up the action server which enables sending the robot to different poses in the map frame

Usage:

Start up the pr2_navigation stack:

roslaunch ds_pr2_2dnav drink_demo.launch

Start up the action server:

roslaunch ds_pr2_2dnav move_robot.launch

Definition of the action:

#goal definition
geometry_msgs/PoseStamped pose
---
#result definition
bool success
---
#feedback

Send the robot to the arbitrary pose:

rosrun ds_pr2_2dnav move_robot_client x y z qx qy qz qw