如何知道move_base到达目标点

您可以使用move_base的SimpleActionClient来检查机器人是否已经到达目标点。您可以使用以下代码：

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

rospy.init_node('check_goal_reached')

client = actionlib.SimpleActionClient('move_base', MoveBaseAction)
client.wait_for_server()

goal = MoveBaseGoal()
goal.target_pose.header.frame_id = 'map'
goal.target_pose.pose.position.x = 1.0
goal.target_pose.pose.position.y = 2.0
goal.target_pose.pose.orientation.w = 1.0

client.send_goal(goal)
client.wait_for_result()

if client.get_state() == actionlib.GoalStatus.SUCCEEDED:
    print("Goal reached!")
else:
    print("Goal not reached.")

这个代码将机器人移动到(1,2)的位置，然后检查是否已经到达目标点。如果机器人已经到达目标点，它将打印“Goal reached!”，否则它将打印“Goal not reached.”。