simple_navigation_goals.cpp
Go to the documentation of this file.00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2008, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: Eitan Marder-Eppstein 00036 * 00037 * For a discussion of this tutorial, please see: 00038 * http://pr.willowgarage.com/wiki/navigation/Tutorials/SendingSimpleGoals 00039 *********************************************************************/ 00040 #include <ros/ros.h> 00041 #include <move_base_msgs/MoveBaseAction.h> 00042 #include <actionlib/client/simple_action_client.h> 00043 #include <tf/transform_datatypes.h> 00044 00045 #include <boost/thread.hpp> 00046 00047 typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient; 00048 00049 void spinThread(){ 00050 ros::spin(); 00051 } 00052 00053 int main(int argc, char** argv){ 00054 ros::init(argc, argv, "simple_navigation_goals"); 00055 00056 ros::NodeHandle n; 00057 00058 boost::thread spin_thread = boost::thread(boost::bind(&spinThread)); 00059 00060 MoveBaseClient ac("pose_base_controller"); 00061 00062 //give some time for connections to register 00063 sleep(2.0); 00064 00065 move_base_msgs::MoveBaseGoal goal; 00066 00067 //we'll send a goal to the robot to move 2 meters forward 00068 goal.target_pose.header.frame_id = "base_link"; 00069 goal.target_pose.header.stamp = ros::Time::now(); 00070 00071 goal.target_pose.pose.position.x = 2.0; 00072 goal.target_pose.pose.position.y = 0.2; 00073 goal.target_pose.pose.orientation = tf::createQuaternionMsgFromYaw(M_PI); 00074 00075 ROS_INFO("Sending goal"); 00076 ac.sendGoal(goal); 00077 00078 ac.waitForResult(); 00079 00080 if(ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED) 00081 ROS_INFO("Hooray, the base moved 2 meters forward"); 00082 else 00083 ROS_INFO("The base failed to move forward 2 meters for some reason"); 00084 00085 return 0; 00086 }