/navigate_to_pose

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/navigate_to_pose Quick Facts

Category

🧭 Navigation

Message type

nav2_msgs/action/NavigateToPose

Nav2 BT Navigator implemented by the nav2_bt_navigator package. It navigates from a starting point to a single point goal using a specified Behavior Tree.

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

SERVER

• bt_navigator

CLIENTS

• bt_navigator

• pal_bt_navigator_through_waypoints

• pal_bt_navigator_to_target

• waypoint_follower

Quick snippets

Send a goal from the command-line

$ ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose # 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 NavigateToPose

class NavigateToPoseActionClient(Node):

    def __init__(self):
        super().__init__('navigate_to_pose_client')
        self._action_client = ActionClient(self, NavigateToPose, '/navigate_to_pose')

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

        # TODO: adapt to the action's parameters
        # check https://docs.ros2.org/latest/api/nav2_msgs/action/NavigateToPose.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 = NavigateToPoseActionClient()

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

    rclpy.spin_until_future_complete(action_client, future)

    rclpy.shutdown()