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I really want to be able to send a goal to move base that is it's current position, but a different orientation/ rotation. I know I can send a twist command to rotate the robot, but I was wondering how someone would do it via MoveBase?
Have a look here to understand quaternions.
To rotate the robot, you can, for instance, send a PoseStamped with frame id base_link and the relative orientation of your goal relative to your robot to move_base.
If you are sure of the quaternion values. You can simply publish using geometry_msgs/PoseStamped. Sample:
publisher = nh.advertise<move_base_msgs::MoveBaseActionGoal>("move_base/goal", 5);
geometry_msgs::PoseStamped GoalPose;
move_base_msgs::MoveBaseActionGoal Goal_Pose;
GoalPose.pose.position.x = <current pose x>;
GoalPose.pose.position.y = <current pose y>;
GoalPose.pose.position.z = <current pose z>;
GoalPose.pose.orientation.x = <desired orientation x>;
GoalPose.pose.orientation.y = <desired orientation y>;
GoalPose.pose.orientation.z = <desired orientation z>;
GoalPose.pose.orientation.w = <desired orientation w>;
Goal_Pose.header.seq = GoalPose.header.seq = 1;
GoalPose.header.stamp = 1;
Goal_Pose.header.frame_id = GoalPose.header.frame_id = "/map";
Goal_Pose.goal.target_pose = GoalPose;
publisher.publish(Goal_Pose);
I used the above on a TurtleBot and it worked perfectly!
This will send the robot to a different location in map unless the correct x and y values for position are used. It is much easier to set the frame_id to base_link and the position to 0. Why are you setting the stamp to 1? This should not work. Set the time to ros::Time::now() or 0.
For robots moving in 2D space, I usually use
GoalPose.pose.orientation = tf::createQuaternionMsgFromYaw(<desired direction>);
Asked: 2012-08-01 09:18:56 -0500
Seen: 3,837 times
Last updated: Aug 01 '12
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