如何在python中用move_base实现rviz中小车五个点的定点导航

可以使用以下代码实现：

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

def move_to_goal(x, y):
    # 初始化节点
    rospy.init_node('move_base_client')

    # 创建一个action client
    client = actionlib.SimpleActionClient('move_base', MoveBaseAction)

    # 等待action server启动
    client.wait_for_server()

    # 创建一个目标点
    goal = MoveBaseGoal()
    goal.target_pose.header.frame_id = "map"
    goal.target_pose.pose.position.x = x
    goal.target_pose.pose.position.y = y
    goal.target_pose.pose.orientation.w = 1.0

    # 发送目标点
    client.send_goal(goal)

    # 等待机器人到达目标点
    client.wait_for_result()

if __name__ == '__main__':
    # 五个点的坐标
    points = [(1, 1), (2, 2), (3, 3), (4, 4), (5, 5)]

    # 依次导航到五个点
    for point in points:
        move_to_goal(point[0], point[1])

这段代码使用了move_base和actionlib库，通过创建一个action client，发送目标点，等待机器人到达目标点，实现了小车五个点的定点导航。