ros机器人导航描述航点的发布方法
时间: 2023-08-10 20:08:05 浏览: 159
在ROS中,可以使用`move_base_msgs/MoveBaseActionGoal`消息来发布导航目标点。该消息包含目标点的3D位置和方向(Quaternion表示)。
以下是一个发布导航目标点的示例代码:
```python
#!/usr/bin/env python
import rospy
from move_base_msgs.msg import MoveBaseActionGoal
from geometry_msgs.msg import PoseStamped, Quaternion
def publish_goal():
rospy.init_node('publish_goal', anonymous=True)
pub = rospy.Publisher('/move_base/goal', MoveBaseActionGoal, queue_size=10)
# 创建一个 MoveBaseActionGoal 消息
goal = MoveBaseActionGoal()
goal.header.stamp = rospy.Time.now()
goal.goal_id.id = '1'
goal.goal.target_pose.header.frame_id = 'map'
# 设置目标点的位置和方向
goal.goal.target_pose.pose.position.x = 1.0
goal.goal.target_pose.pose.position.y = 2.0
goal.goal.target_pose.pose.position.z = 0.0
goal.goal.target_pose.pose.orientation = Quaternion(0.0, 0.0, 0.0, 1.0)
# 发布目标点
pub.publish(goal)
if __name__ == '__main__':
try:
publish_goal()
except rospy.ROSInterruptException:
pass
```
在这个示例代码中,我们创建了一个`MoveBaseActionGoal`消息,并设置了目标点的位置和方向。然后,我们使用`rospy.Publisher`函数将消息发布到`/move_base/goal`主题上。注意,`/move_base/goal`是move_base节点订阅的主题,用于接收导航目标点。