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How are Goals Used in Move_Base?

asked 2022-02-14 16:06:29 -0500

cmcheung gravatar image

I'm trying to get a better understanding of how Move_Base uses goals it receives from /move_base_simple/goal.

Looking at the code, I know that if I publish something to /move_base_simple/goal, it will use the callback function MoveBase::goalCB. Look into goalCB, I see that it serializes the message from /move_base_simple/goal into a MoveBaseActionGoal, and publishes it to the topic move_base/goal. When I do a "ros topic info move_base/goal", I see that the only node that subscribes to that topic is move_base, indicating that somewhere in move_base I should find that topic being subscribed to and used. That said, I don't see any place in move_base that subscribes to the topic "move_base/goal" of type MoveBaseActionGoal.

What is going on with the goal here? Where does it get read and processed to get sent to the global planner?

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answered 2022-02-14 18:31:25 -0500

ljaniec gravatar image

Isn't the code there:

what are you expecting?

You can read more about the actions from actionlib used there with the MoveBaseActionGoal and /move_base_simple. For sure you have seen it already, but this tutorial: can be helpful too.

These slides were nice introduction to understanding ROS Navigation for me, maybe it will help someone later too:

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Asked: 2022-02-14 16:06:29 -0500

Seen: 351 times

Last updated: Feb 14 '22