/navigate_through_poses

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/navigate_through_poses Quick Facts

Category

🧭 Navigation

Message type

nav2_msgs/action/NavigateThroughPoses

Nav2 BT Navigator implemented by the nav2_bt_navigator package. Implements a navigation behavior from a starting point, through many intermediary hard pose constraints, to a final goal, using a specified Behavior Tree.

For more information on this Navigator, check the Nav2 NavigateThroughPoses documentation.

SERVER

• bt_navigator

Quick snippets

Send a goal from the command-line

$ ros2 action send_goal /navigate_through_poses nav2_msgs/action/NavigateThroughPoses # press Tab to complete the message prototype

How to use in your code

PythonC++

Call the action from a Python script

#!/usr/bin/env python

import rclpy
from rclpy.action import ActionClient
from rclpy.node import Node

from nav2_msgs.action import NavigateThroughPoses

class NavigateThroughPosesActionClient(Node):

    def __init__(self):
        super().__init__('navigate_through_poses_client')
        self._action_client = ActionClient(self, NavigateThroughPoses, '/navigate_through_poses')

    def send_goal(self, a, b):
        goal_msg = NavigateThroughPoses.Goal()

        # TODO: adapt to the action's parameters
        # check https://docs.ros2.org/latest/api/nav2_msgs/action/NavigateThroughPoses.html
        # for the possible goal parameters
        # goal_msg.a = a
        # goal_msg.b = b

        self._action_client.wait_for_server()

        return self._action_client.send_goal_async(goal_msg)

if __name__ == '__main__':
    rclpy.init(args=args)

    action_client = NavigateThroughPosesActionClient()

    # TODO: adapt to your action's parameters
    future = action_client.send_goal(a, b)

    rclpy.spin_until_future_complete(action_client, future)

    rclpy.shutdown()