Set a target (goal), and wait the robot achieves it (result)
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] | place_holder.cb |
| entry | Transition [movai_msgs-MovAI/TransitionTo] | global/Callback/place_holder.cb |
| init | 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] |
| exit | Transition [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. |