/move_base#

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/move_base Quick Facts

Category

Navigation

Message type

move_base_msgs/MoveBase

Implements the Point to Point Navigation. You can select a Goal in the map and the robot will start moving to reach the desired goal while avoiding obstacles

Quick snippets#

Send a goal from the command-line#
$ rostopic pub /move_base/goal move_base_msgs/MoveBaseActionGoal # press Tab to complete the message prototype
Call the action from a Python script#
#!/usr/bin/env python

import rospy
import actionlib
from move_base_msgs.msg import *


if __name__ == "__main__":

    client = actionlib.SimpleActionClient("/move_base", move_base_msgs.msg.MoveBaseAction)
    client.wait_for_server()

    # check http://docs.ros.org/en/api/move_base_msgs/html/action/MoveBase.html
    # for the possible goal parameters
    goal = move_base_msgs.msg.MoveBaseGoal(param1=..., param2=...)

    client.send_goal(goal)
    client.wait_for_result()

    rospy.loginfo("Action returned: %s" % client.get_result())

REST endpoint#

You can also access this action from a webpage displayed on the robot’s touchscreen via this endpoint:

http://ari-0c/action/move_base

(replace ari-0c by the serial number of your own robot).

See REST interface for the general documentation of the REST endpoints and code samples.