如何在python中用move_base实现rviz中小车五个点的按顺序行驶的定点导航

你可以使用move_base的SimpleActionClient来实现这个任务。首先，你需要定义一个目标点的列表，然后将它们按照顺序添加到move_base的目标点队列中。接下来，你需要等待move_base完成导航任务。以下是一个示例代码：

import rospy
import actionlib
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal

def navigate_to_goals():
    rospy.init_node('navigate_to_goals')
    client = actionlib.SimpleActionClient('move_base', MoveBaseAction)
    client.wait_for_server()

    # Define the goal points
    goals = [
        [(0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0)],  # goal 1
        [(1.0, 1.0, 0.0), (0.0, 0.0, 0.707, 0.707)],  # goal 2
        [(2.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0)],  # goal 3
        [(1.0, -1.0, 0.0), (0.0, 0.0, -0.707, 0.707)],  # goal 4
        [(0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0)]  # goal 5
    ]

    # Send the goals to move_base
    for goal in goals:
        move_goal = MoveBaseGoal()
        move_goal.target_pose.header.frame_id = 'map'
        move_goal.target_pose.pose.position.x = goal[0][0]
        move_goal.target_pose.pose.position.y = goal[0][1]
        move_goal.target_pose.pose.position.z = goal[0][2]
        move_goal.target_pose.pose.orientation.x = goal[1][0]
        move_goal.target_pose.pose.orientation.y = goal[1][1]
        move_goal.target_pose.pose.orientation.z = goal[1][2]
        move_goal.target_pose.pose.orientation.w = goal[1][3]

        client.send_goal(move_goal)
        client.wait_for_result()

if __name__ == '__main__':
    try:
        navigate_to_goals()
    except rospy.ROSInterruptException:
        pass

这个代码会将小车依次导航到五个目标点。你可以根据需要修改目标点的坐标和姿态。