A ROS 2 implementation of PythonRobotics/Control/move_to_pose example
move_to_pose_ros is a ROS 2 package that controls a robot base to move to a target pose. The goal pose is given by an action client.
cd launch
ros2 launch controller.launch.py
In another terminal,
ros2 action send_goal /MoveToPose -f action_move_to_pose_interface/action/MoveToPose "goal_pose:
position:
x: 2.0
y: 5.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0"
/cmd_vel
(geometry_msgs/Twist)- Velocity command to be sent to the robot base.
/odom
(nav_msgs/Odometry)- Odometry information of the robot base.
max_linear_speed
(float, default: 0.5)- Maximum linear speed of the robot base.
max_angular_speed
(float, default: 0.5)- Maximum angular speed of the robot base.