Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Giving goal points without using rviz [closed]

rviz
goal

asked 2013-03-03 02:11:12 -0500

Arkapravo

1098 ●46 ●63 ●71 http://mobotica.blogspot.in/

updated 2013-03-03 05:12:36 -0500

In various scenarios we need to give goals to the robot and using rviz is the most popular way to do it in the ROS community. However, in various low level processors (viz. Raspberry Pi and other ARM processors) or in a bare bones installation one may not have the luxury of getting OGRE working, hence no rviz. So, what options do we have then, is it possible to give goal points using some other means ?

Typically a command line execution as

[rospackage] [executable] [goal-x, goal-y]

may be very useful, does such exist ?

edit retag flag offensive reopen merge delete

Closed for the following reason Question does not follow our guidelines for questions. Please see: http://wiki.ros.org/Support for more details. by Arkapravo
close date 2014-08-03 01:55:34.830838

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2013-03-03 03:16:25 -0500

dornhege

31395 ●134 ●284 ●498

From you command, I assume you mean without a GUI?

In that case, just do what rviz does: It sends a message to a topic (usually /move_base_simple/goal). You can do the same via rostopic pub.

A wrapper script that expects x,y,theta could be easily done.

From software, you should use the actionlib interface.

edit flag offensive delete link

Comments

@dornhege I see what you are getting at !! seems possible, do you guess the command structure I have suggested can indeed be implemented ? [rospackage] [executable] [goal-x, goal-y] ??

Arkapravo ( 2013-03-03 05:10:53 -0500 )edit

Sure. Just write a wrapper script that takes x,y and calls rostopic pub with the correct parameters fed in. If you put that script in a ROS package, you'll have exactly the syntax you wanted.

dornhege ( 2013-03-03 05:23:19 -0500 )edit

add a comment

Question Tools

Stats

Asked: 2013-03-03 02:11:12 -0500

Seen: 389 times

Last updated: Mar 03 '13

Giving goal points without using rviz [closed] edit

Closed for the following reason Question does not follow our guidelines for questions. Please see: http://wiki.ros.org/Support for more details. by Arkapravo close date 2014-08-03 01:55:34.830838