1 rviz 教程
This tool lets you set a goal sent on the “goal” ROS topic. Click on a location on the ground plane and drag to select the orientation:
二维导航目标（快捷键：g）
此工具允许您设置在”goal”ROS主题上发送的目标。单击地平面上的某个位置并拖动以选择方向：
即设置二维导航目标，并使用”goal”这个话题进行通讯（结合rviz的其他教程，话题名也可能是”/move_base_simple/goal”）
其消息类型为： geometry_msgs/PoseStamped
meng@meng:~/ideas/ros_ws$ rosmsg info geometry_msgs/PoseStamped
std_msgs/Header header
uint32 seq
time stamp
string frame_id
geometry_msgs/Pose pose
geometry_msgs/Point position
float64 x
float64 y
float64 z
geometry_msgs/Quaternion orientation
float64 x
float64 y
float64 z
float64 w
1.2 2D Pose Estimate
2D Pose Estimate (Keyboard shortcut: p)
This tool lets you set an initial pose to seed the localization system (sent on the “initialpose” ROS topic). Click on a location on the ground plane and drag to select the orientation:
二维姿势估计（键盘快捷键：p）
此工具允许您设置初始姿势以播种定位系统（发送至”initialpose”ROS主题）。单击地平面上的某个位置并拖动以选择方向：
即设置二维初始位姿并使用”initialpose”进行通讯
其消息类型为： geometry_msgs/PoseWithCovarianceStamped
meng@meng:~/ideas/ros_ws$ rosmsg info geometry_msgs/PoseWithCovarianceStamped
std_msgs/Header header
uint32 seq
time stamp
string frame_id
geometry_msgs/PoseWithCovariance pose
geometry_msgs/Pose pose
geometry_msgs/Point position
float64 x
float64 y
float64 z
geometry_msgs/Quaternion orientation
float64 x
float64 y
float64 z
float64 w
float64[36] covariance
1.3 打开rviz查看
Panels–Tool Properties（勾选）
2 订阅话题
订阅起点位姿和终点话题并打印输出的c++文件：receive_2d_nav_goal.cpp
#include "ros/ros.h"
#include "std_msgs/String.h"
#include
#include
#include
void chatterCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& msg)
{
double x=msg->pose.pose.position.x;
double y=msg->pose.pose.position.y;
std::cout<pose.position.x;
double y=msg->pose.position.y;
std::cout<
启动rviz和节点程序，用 2D Nav Goal、2D Pose Estimate 在rviz中做标记，即可打印输出:
订阅起点位姿和终点，并保持发布：
#include "ros/ros.h"
#include "std_msgs/String.h"
#include
#include
#include
ros::Publisher initialpose_pub,goal_pub;
geometry_msgs::PoseWithCovarianceStamped initialpose_tmp;//设置为全局变量，可以一直被发布出来
geometry_msgs::PoseStamped goal_tmp;
void initialpose_handler(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& msg)
{
double x=msg->pose.pose.position.x;
double y=msg->pose.pose.position.y;
std::cout<header;
// initialpose_tmp.header=msg->header;
initialpose_pub.publish(initialpose_tmp);
}
void goal_handler(const geometry_msgs::PoseStamped::ConstPtr& msg)
{
double x=msg->pose.position.x;
double y=msg->pose.position.y;
std::cout<("initialpose_my", 1);
goal_pub = nh.advertise("goal_my", 1);
while(ros::ok())
{
ros::spinOnce();
}
return 0;
}
参考链接：
2D Nav Goal和2D Pose Estimate功能介绍：rviz/UserGuide – ROS Wiki
2D Nav Goal和2D Pose Estimate的消息类型：navigation/Tutorials/Using rviz with the Navigation Stack – ROS Wiki
Original: https://blog.csdn.net/BIT_HXZ/article/details/125267078
Author: biter0088
Title: ros(23)：接收rviz中的2D Nav Goal、2D Pose Estimate消息
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