Accessor for directing a ROS robot to navigate to navigation goal, expressed as a pose. This accessor is designed to work with the built in navigation stack of a Turtlebot3 Waffle, but likely works for other similar robots.
- Version:
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- Source:
Inputs:
| Name | Type | Description |
|---|---|---|
navigationGoal |
A ROS pose (see http://docs.ros.org/api/geometry_msgs/html/msg/Pose.html) where the robot will be instructed to go. This accessor expects a JSON input like: {"position": { "x": -2.4949991703, "y": 0.950000107288 }, "orientation": {"z": 0.266934187288, "w": 0.963714760527 } Note that this is an example of a 2D pose. Position is a Point and Orientation is a Quaternion. Orientation will be ignored if it has magnitude 0. This example has implict zero values for the "z" position and the "x", and "y" orientation properties. These may be nonzero for a 3D pose, in which case they should be included in the input. |
Parameters:
| Name | Type | Description |
|---|---|---|
rosbridgeServer |
IP address where rosbridge is running. | |
rosbridgePort |
Port where rosbridge is running. By default this is 9090. |