ros目标导航按键命令分析

ros目标导航按键命令分析

1. 使用rostopic echo查看目标导航信息

rostopic echo /move_base/goal

2. 点击rviz的2D Nav Goal，然后在地图上点击一个点，打印出如下信息

header: 
  seq: 8
  stamp: 
    secs: 3415
    nsecs: 476000000
  frame_id: ''
goal_id: 
  stamp: 
    secs: 0
    nsecs:         0
  id: ''
goal: 
  target_pose: 
    header: 
      seq: 8
      stamp: 
        secs: 3415
        nsecs: 476000000
      frame_id: "map"
    pose: 
      position: 
        x: -3.5087218284606934
        y: -0.9432125091552734
        z: 0.0
      orientation: 
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0

3. 汽车开始移动