how to go to a point on gazebo world without map and keyboard

My goal is to create a program that allow a robot in a gazebo world to go to a list of points and then generate the cartography (path of the robot).pgm. Now i have a program that allows the robot to go to this list of points but it required to run amcl with the map.yaml. so how can i go to a point on a gazebo world without having a map and without using the keyboard of course? Thank you in advance for youre help.

Asked by sinou00 on 2020-04-03 10:07:19 UTC

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Answers

Hi @sinou00,

Check this answers in Gazebo answers. In that post will find a Gazebo system plugin that will allow you to get the position clicked in Gazebo world.

Furthermore, you can enhance the plugin by reading all mouse events and storing the positions in a list that can be published by a ROS topic that would be used by your control node.

Asked by Weasfas on 2020-04-04 08:46:35 UTC