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Hello All, This is a fairly straightforward question, however I have not been able to find it so far. Could someone please tell me the terminal command to publish move_base_simple/goal. I know it is something like: rostopic pub /move_base_simple/goal geometry_msgs/PoseStamped ..........
Really appreciate it. Thank you Ammar
rostopic pub /move_base_simple/goal geometry_msgs/PoseStamped '{header: {stamp: now, frame_id: "map"}, pose: {position: {x: 1.0, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}'
See here for an overview of the command line yaml syntax.
But if you want to send goals programmatically, consider using actionlib. It allows you to preempt goals, i.e. stop the robot, while it is moving. Have a look at this tutorial.
For the sake of completeness and given that this is something rather useful to do especially for debugging reasons, here's the same command in ROS 2:
ros2 topic pub /move_base_simple/goal geometry_msgs/PoseStamped '{header: {stamp: {sec: 0, nanosec: 0}, frame_id: "map"}, pose: {position: {x: 1.0, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}'
Never mind! Found the answer. It is simply:
rostopic pub /robot_0/move_base_simple/goal geometry_msgs/PoseStamped '{ header: { frame_id: "/map" }, pose: { position: { x: 0.25, y: 0 }, orientation: { x: 0, y: 0, z: 0, w: 1 } } }'
Thanks
Hi @Gagan, I don't know why Ammar did /robot_0/ but I'm also doing it because I'm launching multiple turtlebots that's why I have to specify which robot I'm giving the goal pos to.
Asked: 2012-11-11 05:21:03 -0600
Seen: 33,321 times
Last updated: May 14 '19
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