/move_base
#
Caution
This documentation page has been auto-generated.
It may be missing some details.
/move_base
Quick Facts
- Category
- Message type
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.