/move_base_simple/goal#

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/move_base_simple/goal Quick Facts

Category

Navigation

Message type

geometry_msgs/PoseStamped

Direction

⬅️ you normally publish to this topic.

Direct interface to request the robot to move to a given position

Quick snippets#

Publish data on the topic#
$ rostopic pub /move_base_simple/goal geometry_msgs/PoseStamped # press Tab twice to complete

How to use in your code#

Publish to the topic using Python#
 1import rospy
 2from geometry_msgs.msg import PoseStamped
 3
 4if __name__ == "__main__":
 5    rospy.init_node("publisher")
 6
 7    pub = rospy.Publisher("/move_base_simple/goal", PoseStamped, queue_size=10)
 8    rate = rospy.Rate(10) # 10Hz
 9    msg = PoseStamped()
10
11    while not rospy.is_shutdown():
12
13        # check http://docs.ros.org/en/api/geometry_msgs/html/msg/PoseStamped.html
14        # for the msg structure
15        # msg.data = ...
16        pub.publish(msg)
17
18        rate.sleep()