MartinNievas / move_to_pose_ros

A ROS 2 implementation of PythonRobotics/Control/move_to_pose example

move_to_pose_ros

A ROS 2 implementation of PythonRobotics/Control/move_to_pose example

Command-line Tools

move_to_pose_ros is a ROS 2 package that controls a robot base to move to a target pose. The goal pose is given by an action client.

Example

cd launch
ros2 launch controller.launch.py

In another terminal,

ros2 action send_goal /MoveToPose -f action_move_to_pose_interface/action/MoveToPose "goal_pose:
  position:
    x: 2.0
    y: 5.0
    z: 0.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 1.0"

Published Topics

• /cmd_vel (geometry_msgs/Twist)
  • Velocity command to be sent to the robot base.

Subscribed Topics

• /odom (nav_msgs/Odometry)
  • Odometry information of the robot base.

Parameters

• max_linear_speed (float, default: 0.5)
  • Maximum linear speed of the robot base.
• max_angular_speed (float, default: 0.5)
  • Maximum angular speed of the robot base.