(ros/move_base) 怎样终止正在进行的导航navigation

怎样终止正在进行的导航navigation
how to cancel a navigation goal or how to stop current navigation?

导航时，取消当前目标点或者暂停导航是一个常见的问题

经过查阅资料．发现仅用如下一条指令即可另导航停止，小车停止:

rostopic pub /move_base/cancel actionlib_msgs/GoalID -- {}

或者

ros::Publisher　 cancle_pub_ =  nh_.advertise<actionlib_msgs::GoalID>("move_base/cancel",1);

　actionlib_msgs::GoalID　first_goal;
      cancle_pub_.publish(first_goal);


[1] http://answers.ros.org/question/46214/move_base-stop-navigation/

author:wsh
email:tongzhuodenilove@163.com