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How to send a 2D Nav goal without the button "2D Nav Goal" in RVIZ?

asked 2022-01-08 08:56:20 -0600

sincoy gravatar image

updated 2022-03-25 17:27:15 -0600

lucasw gravatar image

Hello ROS developers,

I would like to send a nav goal to move my robot to the specific destination without the button "2D Nav Goal" in RVIZ. Do you have some clues for me to solve my problem?

Thanks in advance! I appreciate your help!

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3 Answers

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answered 2022-01-08 11:04:32 -0600

Mike Scheutzow gravatar image

You want to create a SimpleActionClient. Here is a link to a tutorial that uses roscpp:

http://wiki.ros.org/navigation/Tutori...

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answered 2022-01-08 09:06:11 -0600

osilva gravatar image

Hi @sincoy

There is a great answer that will help you get started. https://answers.ros.org/question/2522...

From there you may have a more specific answer on how to.

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answered 2022-01-09 06:03:06 -0600

sincoy gravatar image

I solved my problem with this command line to move my robot to a desired destination. I defined the position and orientation parameters

rostopic pub /move_base/goal move_base_msgs/MoveBaseActionGoal "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
goal_id:
  stamp:
    secs: 0
    nsecs: 0
  id: ''
goal:
  target_pose:
    header:
      seq: 0
      stamp:
        secs: 0
        nsecs: 0
      frame_id: 'map'
    pose:
      position:
        x: 1.0
        y: 2.5
        z: 0.0
      orientation:
        x: 0.0
        y: 0.0
        z: 0.75
        w: 0.66"
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Asked: 2022-01-08 08:56:20 -0600

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Last updated: Jan 09 '22