使用python编写ros导航路径规划的示例代码

在ROS（Robot Operating System）中，路径规划通常涉及到一些高级算法，如A*、Dijkstra等。Python作为ROS的主要编程语言之一，有丰富的库可以支持这些算法。以下是一个简单的A*路径规划的Python示例代码，假设我们使用`move_base`包中的`NavfnROS`节点：

import rospy
from nav_msgs.msg import OccupancyGrid, Path
from geometry_msgs.msg import PoseStamped
from std_msgs.msg import Float64

# 初始化ROS节点
rospy.init_node('path_planner')

# 创建navfn ROS节点
planner = NavfnROS()

def get_costmap_callback(data):
    global costmap
    costmap = data.data

def set_start_goal(start_pose, goal_pose):
    planner.setStartState(start_pose)
    planner.setGoal(goal_pose)

def plan_path():
    start_pose = PoseStamped()
    # 设置起始位置...
    goal_pose = PoseStamped()
    # 设置目标位置...
    planner.initialize()
    path = planner.plan()
    
    if path:
        print("Path found!")
        for pose in path.poses:
            print(pose)
    else:
        print("No path found.")

if __name__ == '__main__':
    # 订阅costmap数据
    rospy.Subscriber('/map', OccupancyGrid, get_costmap_callback)
    rate = rospy.Rate(10)  # 控制订阅频率

    start_pose = ...  # 根据实际需要获取或设置
    goal_pose = ...

    while not rospy.is_shutdown():
        plan_path()
        rate.sleep()