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How to publish a navigation goal to turtlebot running the amcl_demo.launch navigation with a map file

asked 2013-11-23 15:43:38 -0500

bhanodhaynss gravatar image

updated 2013-12-01 20:25:54 -0500

tfoote gravatar image

I want to publish navigation goals to the turtlebot running the amcl_demo.launch with a specific map file.

In general when amcl_demo.launch file is launched with the mapfile, we can send the navigation goals to the turtlebot using the Rviz GUI tool. But i want to send the navigation goals to the turtlebot form a pyhton script that i have written the Navigation Goal parameters in it.

I could figure out that, the Rviz sends the navigation goals to the topic /move_base_simple/goal. I want to know the correct message format of the navigation goal that should be sent to the turtlebot.

How do i get this task done?? Anyone who knows the answer, please help me.

Thank You

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answered 2013-11-24 01:29:53 -0500

rnunziata gravatar image

Is this what you are looking for.

rostopic pub /move_base_simple/goal geometry_msgs/PoseStamped '{ header: {stamp: now, frame_id: "map"}, pose: { position: {x: -4.560, y: 0.204, z: 0.0}, orientation: {w: 1.0}}}'
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Yes rnunziata, this is what i was searching for...Thank You can you please let me know the source of this answer, so that i would go into the details of it

bhanodhaynss gravatar image bhanodhaynss  ( 2013-11-24 14:04:43 -0500 )edit
rnunziata gravatar image rnunziata  ( 2013-11-25 00:38:29 -0500 )edit

Thank You rnunziata

bhanodhaynss gravatar image bhanodhaynss  ( 2013-11-25 10:39:24 -0500 )edit

hi your information link is no more able to see. Can it possible to post again? As I'm actually not very understand the published meaning of the code.

potatoo gravatar image potatoo  ( 2021-02-02 00:03:03 -0500 )edit

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Asked: 2013-11-23 15:43:38 -0500

Seen: 2,160 times

Last updated: Nov 24 '13