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

Thank You rnunziata

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

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

Seen: 1,807 times

Last updated: Nov 24 '13