I read this answer about how to publish /move_base_simple/goal. But I want to do something further.
Here is my current setup:
First ran:
roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_navigation amcl_demo_rplidar.launch map_file:=/home/ubuntu/maps/mymap.yaml
then I try to publish the goals:
rostopic pub /move_base_simple/goal geometry_msgs/PoseStamped '{header: {stamp: now, frame_id: "map"}, pose: {position: {x: 1.0, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}'
The robot moved.
Then I tried to do something further, so I wrote a node to publish the msg. Here is my code.
#include "std_msgs/String.h"
#include<ros/ros.h>
#include<geometry_msgs/PoseStamped.h>
#include <sstream>
int main(int argc, char **argv)
{
ros::init(argc, argv, "pub_goal");
ros::NodeHandle nh;
ros::Publisher pub = nh.advertise<geometry_msgs::PoseStamped>("/move_base_simple/goal",1) ;
ros::Rate loop_rate(1);
int count = 0;
while (ros::ok())
{
geometry_msgs::PoseStamped goal;
goal.header.frame_id="map";
goal.pose.position.x=1;
goal.pose.orientation.w=1;
goal.pose.orientation.z=0;
ROS_INFO("%lf",goal.pose.position.x);
pub.publish(goal);
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}
After actkin_make, I rosrun it, but something wired happened.
Here is the result:
luc@luc-ThinkPad-T450:~/catkin_ws$ rosrun goal_test publish_goal
[ INFO] [1510794351.286271377]: 1.000000
[ INFO] [1510794352.286323753]: 1.000000
[ INFO] [1510794353.286425226]: 1.000000
[ INFO] [1510794354.286430381]: 1.000000
[ INFO] [1510794355.286429147]: 1.000000
[ INFO] [1510794356.286306929]: 1.000000
But the turtlebot2 is still.
Then I cancel the process by "ctrl+c", the turtlebot2 moved.
So, I am confused.
Could anyone please tell me how to publish a msg through a node to send simple goal to make my turtlebot2 move?
Sorry for my poor English.
Originally posted by LucYang on ROS Answers with karma: 56 on 2017-11-15
Post score: 0
Original comments
Comment by Humpelstilzchen on 2017-11-16:
Could it be that you send new goals so fast that the navigation stack is still calculating the old goal when it gets replaced by a new one?
Comment by gvdhoorn on 2017-11-16:
@Humpelstilzchen: that is most likely the case, yes.
@LucYang: move_base is going to need some time to plan new trajectories and start moving the robot. It probably cannot do that in 1 second.
Comment by LucYang on 2017-11-16:
Thank you! It is exactly the reason what you say.