ROS中Navigation发布方式(3种)

た入场券 2023-10-15 12:54 106阅读 0赞

在ROS中发布导航命令有三种方式(但其实本质上都是话题发送)

### 一、使用Rviz进行导航 ###

最常见的导航是在Rviz中实现的导航，通过2D Nav Goal可以设置导航目标点，但实际上2D Nav Goal会操作三个话题均有输出：  
  /move\_base/current\_goal  
  /move\_base/goal  
  /move\_base\_simple/goal

Rviz中导航操作的主要话题：/move\_base\_simple/goal  
  Rviz中初始位姿操作的主要话题：/initialpose

### 二、使用终端发布导航命令 ###

向/move\_base\_simple中发数据

rostopic pub /move_base_simple/goal  geometry_msgs/PoseStamped  '{header: {frame_id: "map"},pose: {position:{x: -1.8,y: 0,z: 0},orientation: {x: 0,y: 0,z: 0,w: 1}}}'

向/move\_base/current\_goal中发数据

rostopic pub /move_base/current_goal  geometry_msgs/PoseStamped  '{header: {frame_id: "map"},pe: {position:{x: 1.8,y: 0,z: 0},orientation: {x: 0,y: 0,z: 0,w: 1}}}'

### 三、使用功能包代码发布 ###

源代码模板如下(这里只提供了.cpp，还要配套的CMakeLists.txt和package.xml)：

#include <move_base_msgs/MoveBaseAction.h> 
    #include <actionlib/client/simple_action_client.h>
    typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
    
    int main() {
        
    	MoveBaseClient ac("move_base", true);
    	// waitForResult()会阻塞当前线程，直到有结果才会退出(一前/一后导航会先前，执行完了再后)
    	ac.waitForServer(ros::Duration(60));
    	move_base_msgs::MoveBaseGoal goal;
    	// 对goal进行填充
    	ac.sendGoal(goal);
    	ac.waitForResult(); 
    	if (ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED) 		
    		ROS_INFO("You have reached the goal!"); 
    	else 
    		ROS_INFO("The base failed for some reason"); return 0;
    }

ac.sendGoal是有三个回调的：ac.sendGoal(goal, &doneCb, &activeCb, &feedbackCb);  
参考[http://wiki.ros.org/cn/actionlib\_tutorials/Tutorials/Writing%20a%20Callback%20Based%20Simple%20Action%20Client][http_wiki.ros.org_cn_actionlib_tutorials_Tutorials_Writing_20a_20Callback_20Based_20Simple_20Action_20Client]

SimpleClientGoalState状态如下：  
![在这里插入图片描述][a294fb3b54c84da5ad38cb3dcab28f25.png]  
![在这里插入图片描述][98f7ad52ce5b4680a196ca50fbf7fc20.png]

参考：  
  [https://docs.ros.org/en/api/actionlib/html/classactionlib\_1\_1SimpleClientGoalState.html][https_docs.ros.org_en_api_actionlib_html_classactionlib_1_1SimpleClientGoalState.html]  
  [https://blog.csdn.net/abcwoabcwo/article/details/103536376][https_blog.csdn.net_abcwoabcwo_article_details_103536376]

[http_wiki.ros.org_cn_actionlib_tutorials_Tutorials_Writing_20a_20Callback_20Based_20Simple_20Action_20Client]: http://wiki.ros.org/cn/actionlib_tutorials/Tutorials/Writing%20a%20Callback%20Based%20Simple%20Action%20Client
[a294fb3b54c84da5ad38cb3dcab28f25.png]: https://img-blog.csdnimg.cn/a294fb3b54c84da5ad38cb3dcab28f25.png
[98f7ad52ce5b4680a196ca50fbf7fc20.png]: https://img-blog.csdnimg.cn/98f7ad52ce5b4680a196ca50fbf7fc20.png
[https_docs.ros.org_en_api_actionlib_html_classactionlib_1_1SimpleClientGoalState.html]: https://docs.ros.org/en/api/actionlib/html/classactionlib_1_1SimpleClientGoalState.html
[https_blog.csdn.net_abcwoabcwo_article_details_103536376]: https://blog.csdn.net/abcwoabcwo/article/details/103536376