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Sending a goal to the Navigation stack from a ROS node

asked 2016-11-10 16:50:00 -0500

zakizadeh gravatar image

updated 2016-11-10 16:50:59 -0500

i need Sending a goal to the Navigation stack from a ROS node for wheeled_robot like this example : Chefbot

wheeled_robot : wheeled_robot

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answered 2016-11-11 01:18:27 -0500

sonictl gravatar image

updated 2016-11-11 01:23:27 -0500

python code:

import rospy
import actionlib
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
...
self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction)
...
# Set up the goal location
self.goal = MoveBaseGoal()
self.goal.target_pose.pose = Pose(Point(0.643, 4.720, 0.000), Quaternion(0.000, 0.000, 0.223, 0.975))
self.goal.target_pose.header.frame_id = 'map'
self.goal.target_pose.header.stamp = rospy.Time.now()
...
self.move_base.send_goal(self.goal)

ref: https://github.com/pirobot/ros-by-exa...

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Asked: 2016-11-10 16:50:00 -0500

Seen: 464 times

Last updated: Nov 11 '16