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https://github.com/6-robot/wpr_simulation.git
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40 lines
1.2 KiB
Python
Executable File
40 lines
1.2 KiB
Python
Executable File
#!/usr/bin/env python3
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# coding=utf-8
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import rospy
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import actionlib
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from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
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if __name__ == "__main__":
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# 生成一个导航请求客户端
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ac = actionlib.SimpleActionClient('move_base',MoveBaseAction)
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# 等待服务器端启动
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ac.wait_for_server()
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# 构建目标航点消息
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goal = MoveBaseGoal()
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# 目标航点的参考坐标系
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goal.target_pose.header.frame_id="map"
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# 目标航点在参考坐标系里的三维数值
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goal.target_pose.pose.position.x = -3.0
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goal.target_pose.pose.position.y = 2.0
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goal.target_pose.pose.position.z = 0.0
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# 目标航点在参考坐标系里的朝向信息
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goal.target_pose.pose.orientation.x = 0.0
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goal.target_pose.pose.orientation.y = 0.0
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goal.target_pose.pose.orientation.z = 0.0
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goal.target_pose.pose.orientation.w = 1.0
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# 发送目标航点去执行
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ac.send_goal(goal)
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rospy.loginfo("开始导航…")
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# 等待 move_base 完成导航
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ac.wait_for_result()
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# 获取导航结果
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if ac.get_state() == actionlib.GoalStatus.SUCCEEDED:
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rospy.loginfo("导航成功！")
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else:
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rospy.loginfo("导航失败…")
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