How to send multiple waypoints to move_base package?

asked 2019-01-23 19:21:30 -0500

manuelmelvin gravatar image

updated 2019-01-23 19:42:17 -0500

I am using ROS Indigo and I am publishing 5 waypoints from one computer to a ROS machine with turtlebot simulator (ROS/JAUS Bridge). The message I got on my ROS computer is as below header: seq:3340 stamp: secs:5244 nsecs:11300000 frame_id:base_link poses: - header: seq:0 stamp: secs:5244 nsecs:113000000, frame_id:base_link Pose: Position : x: 9.999 y: 9.999 z: 0.000 orientation: x:3.5 y:4 z: 0.0 w:1.0 . Like this, I have 5 different messages (5 waypoints). I need our move_base package accept this message (topic name is cmd_local_way_paths) and need to drive the robot through the waypoints one by one. Thanks in advance for the help. The screenshot of the terminal with the messages are attached


Thanking you Melvin

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Can you please edit your question such that the message text that copy and pasted is formatted to be readable using the preformatted text (101010) button instead of using bold and italics (and an image)? Right now it is not readable.

jayess gravatar image jayess  ( 2019-01-23 19:25:23 -0500 )edit

See my answer to the topic in this link. It details how to send goals one at a time and how to know when each goal is reached so you can send the next one.

billy gravatar image billy  ( 2019-01-23 19:35:01 -0500 )edit

But in my case I have all the waypoints available as a single topic. I mean 5 way points are published at a single time. Please see the sample attachment.

manuelmelvin gravatar image manuelmelvin  ( 2019-01-23 19:47:09 -0500 )edit

OK, you get them all at once. But won't you forward them one at a time?

billy gravatar image billy  ( 2019-01-23 22:26:19 -0500 )edit