ROS与navigation教程-示例-导航目标设置(C++)

ROS与navigation教程-示例-导航目标设置(C++)

说明：

• 介绍如何实现指定目标点导航

代码：

• 参考github仓库

安装：

• 新建目录

$ mkdir -p ~/catkin_ws/src

• 下载并编译

$ cd ~/catkin_ws/src
$ git clone https://github.com/ros-planning/navigation_tutorials
$ cd ..
$ catkin_make 

测试

• 新终端，执行roscore

$ roscore

• 修改源码simple_navigation_goals.cpp

rosed simple_navigation_goals_tutorial simple_navigation_goals.cpp 

• 替换里面的坐标点

goal.target_pose.pose.position.x = 2.0;
goal.target_pose.pose.position.y = 0.2;

• 新终端，执行驱动

$ rosrun simple_navigation_goals_tutorial simple_navigation_goals