Description

This node publishes a goal/position in the map (x_position, y_position and angle) using action client protocol. If connected to move_base and if the goal is valid, move_base can successfully actuate the robot to the given location in the map. The goal to which the robot travels can be customized using the parameters.

Examples

The following flow demos make use of this node:

Input List

There are 3 parameters.

Port Name	Message type	Callback
action	MoveBaseAction [move_base_msgs-ROS1/ActionClient][move_base_msgs-ROS1/ActionClient]	place_holder.cb
entry	Transition [movai_msgs-MovAI/TransitionTo][movai_msgs-MovAI/TransitionTo]	global/Callback/place_holder.cb
init	Init [movai_msgs-MovAI/Init][movai_msgs-MovAI/Init]	go_to_init.cb

Output List

There are 2 parameters.

Port Name	Message type
action	MoveBaseAction [move_base_msgs-ROS1/ActionClient][move_base_msgs-ROS1/ActionClient]
exit	Transition [movai_msgs-MovAI/TransitionFor][movai_msgs-MovAI/TransitionFor]

Parameter List

There are 3 parameters.

Parameter	Description
x_position	[float] x position of the goal with respect to the origin coordinates of the map.
y_position	[float] y position of the goal with respect to the origin coordinates of the map.
yaw_angle	[float] Angle (i8n degrees) of the final heading of the robot with respect to the origin coordinates of the map.

More Info