move base怎么使用navfn
时间: 2024-02-19 20:58:31 浏览: 30
Move base是ROS中一个重要的导航包,它可以让机器人在给定的地图上执行路径规划和控制,从而实现自主移动。Navfn是Move base中一个基于距离场的全局路径规划器,它可以根据地图信息生成机器人到目标点的最短路径。
要使用navfn,首先需要在Move base配置文件中指定路径规划器为navfn。具体来说,可以在move_base.launch文件中将全局规划器的类型设置为navfn,如下所示:
```
<param name="base_global_planner" value="navfn/NavfnROS" />
```
然后,需要在ROS中发布一个由目标点组成的路径信息。可以使用move_base_msgs包中的MoveBaseGoal消息来发布路径信息。例如,下面的代码可以发布一个目标点为(1,1)的路径信息:
```
#include <ros/ros.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>
typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
int main(int argc, char** argv)
{
ros::init(argc, argv, "simple_navigation_goals");
// Create the action client
// true causes the client to spin its own thread
MoveBaseClient ac("move_base", true);
// Wait for the action server to come up
while (!ac.waitForServer(ros::Duration(5.0)))
{
ROS_INFO("Waiting for the move_base action server to come up");
}
move_base_msgs::MoveBaseGoal goal;
// set up the frame parameters
goal.target_pose.header.frame_id = "map";
goal.target_pose.header.stamp = ros::Time::now();
// Define a position and orientation for the robot to reach
goal.target_pose.pose.position.x = 1.0;
goal.target_pose.pose.position.y = 1.0;
goal.target_pose.pose.orientation.w = 1.0;
// Send the goal position and orientation for the robot to reach
ROS_INFO("Sending goal");
ac.sendGoal(goal);
// Wait for the action to return
ac.waitForResult();
if (ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
{
ROS_INFO("Hooray, the base moved to the goal");
}
else
{
ROS_INFO("The base failed to move to the goal");
}
return 0;
}
```
当机器人收到路径信息后,navfn会根据地图信息计算出最短路径,并将路径发送给Move base中的局部路径规划器,让机器人沿着路径移动。
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