概述
movebase利用actionlib包提供使得我们的机器人到达一个设置的目标点的包
先上一张官方经典的图
movebase
- 图中蓝色部分与特定机器人平台有关，灰色部分是可选的，白色部分是必须的
- 可以看到
amcl和map_server都是不必须的 - 机器人平台输入相关传感器、里程计及tf信息
- 输入为一个
goal(目标点坐标) - 输出一个
cmd_vel（速度）
指定导航点
首先我们查看下MoveBaseActionGoal的定义
rosmsg show MoveBaseActionGoal
MoveBaseActionGoal
运行导航逻辑后，rostopic echo /move_base/goal, 点击2D Nav Goal,输出
image.png
结合上面2个输出可以看到geometry_msgs/PoseStamped中
-
frame_id为参考坐标系 -
goal为目标点的位置(pose)与姿态(orientation)
官方有个例子navigation_tutorials
#include <ros/ros.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>
#include <tf/transform_datatypes.h>
#include <boost/thread.hpp>
typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
void spinThread(){
ros::spin();
}
int main(int argc, char** argv){
ros::init(argc, argv, "simple_navigation_goals");
ros::NodeHandle n;
boost::thread spin_thread = boost::thread(boost::bind(&spinThread));
MoveBaseClient ac("pose_base_controller");
//give some time for connections to register
sleep(2.0);
move_base_msgs::MoveBaseGoal goal;
//we'll send a goal to the robot to move 2 meters forward
goal.target_pose.header.frame_id = "base_link";
goal.target_pose.header.stamp = ros::Time::now();
goal.target_pose.pose.position.x = 2.0;
goal.target_pose.pose.position.y = 0.2;
goal.target_pose.pose.orientation = tf::createQuaternionMsgFromYaw(M_PI);
ROS_INFO("Sending goal");
ac.sendGoal(goal);
ac.waitForResult();
if(ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
ROS_INFO("Hooray, the base moved 2 meters forward");
else
ROS_INFO("The base failed to move forward 2 meters for some reason");
return 0;
}
以base_link为参考坐标系, 目标就是前面2.0(x = 2.0)，左0.2(y = 0.2)，方向选择180°(orientation = tf::createQuaternionMsgFromYaw(M_PI))
