move_to_pose.py 文件源码

def __init__(self):
        # rospy.init_node('nav_test', anonymous=False)

        #what to do if shut down (e.g. ctrl + C or failure)
        rospy.on_shutdown(self._shutdown)

        #tell the action client that we want to spin a thread by default
        self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction)
        rospy.loginfo("waiting for the action server to come up...")
        #allow up to 5 seconds for the action server to come up
        self.move_base.wait_for_server(rospy.Duration(5))

        #we'll send a goal to the robot to tell it to move to a pose that's near the docking station
        self.goal = MoveBaseGoal()
        self.goal.target_pose.header.frame_id = 'odom'
        self.goal.target_pose.header.stamp = rospy.Time.now()