如何用Python实现rviz定点导航
时间: 2023-05-13 21:04:40 浏览: 196
可以使用ROS中的Python库rospy来实现rviz定点导航。具体步骤如下:
1. 导入必要的库:
```
import rospy
from geometry_msgs.msg import PoseStamped
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
from actionlib import SimpleActionClient
```
2. 初始化ROS节点:
```
rospy.init_node('rviz_navigation')
```
3. 创建MoveBaseAction客户端:
```
client = SimpleActionClient('move_base', MoveBaseAction)
client.wait_for_server()
```
4. 创建一个PoseStamped对象,设置导航目标的坐标:
```
goal = PoseStamped()
goal.header.frame_id = 'map'
goal.pose.position.x = 1.0
goal.pose.position.y = 2.0
goal.pose.orientation.w = 1.0
```
5. 创建MoveBaseGoal对象,将目标设置为上一步创建的PoseStamped对象:
```
mb_goal = MoveBaseGoal()
mb_goal.target_pose = goal
```
6. 发送导航目标:
```
client.send_goal(mb_goal)
client.wait_for_result()
```
这样就可以使用Python实现rviz定点导航了。