如何在Python中用move_base实现rviz小车定点导航

你可以使用以下代码实现在Python中使用move_base实现rviz小车定点导航：

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

def move_to_goal(x, y):
    # 初始化节点
    rospy.init_node('move_base_client')

    # 创建一个actionlib客户端，连接move_base服务器
    client = actionlib.SimpleActionClient('move_base', MoveBaseAction)
    client.wait_for_server()

    # 创建一个MoveBaseGoal对象
    goal = MoveBaseGoal()
    goal.target_pose.header.frame_id = "map"
    goal.target_pose.header.stamp = rospy.Time.now()

    # 设置目标点的坐标
    goal.target_pose.pose.position.x = x
    goal.target_pose.pose.position.y = y
    goal.target_pose.pose.orientation.w = 1.0

    # 发送目标点给move_base服务器
    client.send_goal(goal)

    # 等待move_base完成导航
    wait = client.wait_for_result()

    # 判断是否成功到达目标点
    if not wait:
        rospy.logerr("Action server not available!")
        rospy.signal_shutdown("Action server not available!")
    else:
        return client.get_result()

if __name__ == '__main__':
    try:
        # 设置目标点的坐标
        x = 1.0
        y = 2.0

        # 调用move_to_goal函数实现导航
        result = move_to_goal(x, y)

        # 判断是否成功到达目标点
        if result:
            rospy.loginfo("Goal execution done!")
    except rospy.ROSInterruptException:
        rospy.loginfo("Navigation test finished.")

这段代码使用了move_base_msgs和actionlib库，通过创建一个MoveBaseGoal对象，设置目标点的坐标，然后发送给move_base服务器，实现小车的定点导航。