Naviagation goal through command terminal

Course Support ROS Basics In 5 Days (Python)
2

Hi @dhanaprakaashg,

In order to send a navigation goal via the command line you have to publish to the topic move_base_simple/goal
a message of type: geometry_msgs/PoseStamped.

Here is an example command for you to test:
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: { x: 0, y: 0, z: 0, w: 1 }}}'

In order to send a goal programmatically you can use an action. Here is a minimal python script that does just that:

#!/usr/bin/env python

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

def movebase_action_client():

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

    goal = MoveBaseGoal()
    goal.target_pose.header.frame_id = "map"
    goal.target_pose.header.stamp = rospy.Time.now()
    goal.target_pose.pose.position.x = 1.0
    goal.target_pose.pose.position.y = 5.0
    goal.target_pose.pose.orientation.w = 1.0
    goal.target_pose.pose.orientation.x = 0.0
    goal.target_pose.pose.orientation.y = 0.0
    goal.target_pose.pose.orientation.z = 0.0

    client.send_goal(goal)
    wait = client.wait_for_result()
    if not wait:
        rospy.logerr("Action server not available!")
        rospy.signal_shutdown("Action server not available!")
    else:
        return client.get_result()

if __name__ == '__main__':
    try:
        rospy.init_node('movebase_action_client')
        result = movebase_action_client()
        if result:
            rospy.loginfo("Goal execution done!")
    except rospy.ROSInterruptException:
        rospy.loginfo("Navigation test finished.")

Hope this helps,

Roberto

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