/navigate_to_target

Caution

This documentation page has been auto-generated.

It may be missing some details.

/navigate_to_target Quick Facts

Category

🧭 Navigation

Message type

pal_nav2_msgs/action/NavigateToTarget

Nav2 BT Navigator implemented for PAL robots. It uses the /detect_target action to detect and localize a Target with respect to the robot. Once a Target has been detected, it loads a Behavior Tree to navigate the robot to the detected Target.

For more information, check the 🎯 Target Navigation.

SERVER

• navigate_to_target

Quick snippets

Send a goal from the command-line

$ ros2 action send_goal /navigate_to_target pal_nav2_msgs/action/NavigateToTarget # 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 pal_nav2_msgs.action import NavigateToTarget

class NavigateToTargetActionClient(Node):

    def __init__(self):
        super().__init__('navigate_to_target_client')
        self._action_client = ActionClient(self, NavigateToTarget, '/navigate_to_target')

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

        # TODO: adapt to the action's parameters
        # check the pal_nav2_msgs/action/NavigateToTargetGoal message
        # definition 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 = NavigateToTargetActionClient()

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

    rclpy.spin_until_future_complete(action_client, future)

    rclpy.shutdown()