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  1. Using the low-level robot base controllers to drive the robot

    This tutorial teaches you how to start up and control the default robot base controllers (pr2_base_controller and pr2_odometry) directly, rather than at a high level (using move_base).

  2. Using the base controller with odometry and transform information

    We move the robot forward by a specified amount by using the low-level base controller together with transform information from odometry.

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2022-08-13 12:56