如何在python中用move_base实现rviz中小车4个点的定点导航

可以使用以下代码实现：

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

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

# 设置4个点的坐标
waypoints = [
    [(0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0)],
    [(1.0, 1.0, 0.0), (0.0, 0.0, 0.0, 1.0)],
    [(2.0, -1.0, 0.0), (0.0, 0.0, -0.984047240305, 0.177907360295)],
    [(3.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0)]
]

for waypoint in waypoints:
    goal = MoveBaseGoal()
    goal.target_pose.header.frame_id = 'map'
    goal.target_pose.pose.position.x = waypoint[0][0]
    goal.target_pose.pose.position.y = waypoint[0][1]
    goal.target_pose.pose.position.z = waypoint[0][2]
    goal.target_pose.pose.orientation.x = waypoint[1][0]
    goal.target_pose.pose.orientation.y = waypoint[1][1]
    goal.target_pose.pose.orientation.z = waypoint[1][2]
    goal.target_pose.pose.orientation.w = waypoint[1][3]

    client.send_goal(goal)
    client.wait_for_result()

这段代码使用了move_base和actionlib库，通过设置4个点的坐标，实现了小车的定点导航。