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ros(23)：在rviz中接收2D导航目标和2D姿态估计消息

1rviz教程

1.12DNavGoal

2DNavGoal(Keyboardshortcut:g)

此工具可让您设置在“目标”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：

二维导航目标

该工具允许您设置在“目标”ROS主题上发送的目标。单击地平面上的某处并拖动以选择方向：

即设置一个二维导航目标，使用主题“goal”进行交流

消息类型为：geometry_msgs/PoseStamped

meng@meng:~/ideas/ros_ws$rosmsginfoometry_msgs/PoseStampedstd_msgs/Header头uint32seq时间戳字符串frame_idgeometry_msgs/Pose姿势geometry_msgs/点位置float64xfloat64yfloat64zGeometry_msgs/四元数方向float64xfloat64yfloat64zfloat64w

1.22DPoseEstimate

2DPoseEstimate(Keyboardshortcut:p)

此工具可让您设置初始姿势来播种定位系统。单击地平面上的某个位置并拖动以选择方向：

2D姿态估计

该工具允许您设置初始姿势来播种定位系统。单击地平面上的某处并拖动以选择方向：

即设置二维初始姿态并使用“initialpose”进行通信

消息类型为：geometry_msgs/PoseWithCovarianceStamped

meng@meng:~/ideas/ros_ws$rosmsginfogeometry_msgs/PoseWithCovarianceStampedstd_msgs/Headerheaderuint32seqtimestampstringframe_idgeometry_msgs/PoseWithCovarianceposegeometry_msgs/Poseposegeometry_msgs/Pointpositionfloat64xfloat64yfloat64zgeometry_msgs/Quaternionorientationfloat64xfloat64yfloat64zfloat64wfloat64[36]协方差

1.3打开rviz查看

面板--工具属性

2订阅话题

订阅起点位姿和终点主题并打印输出的C++文件：receive_2d_nav_goal.cpp

#include'ros/ros.h'#include'std_msgs/String.h'#includeGeometry_msgs/PoseWithCovarianceStamped.h#includeiostream#includeGeometry_msgs/PoseStamped.hvoidchatterCallback(constGeometry_msgs:PoseWithCovarianceStamped:ConstPtrmsg){doublex=msg-pose.pose.位置.x；双y=msg-pose.pose.position.y;std:coutxystd:endl;}无效chatterCallback1{std:cout'1111'std:endl;双x=msg-pose.position.x;双y=msg-pose.position.y;std:coutxystd:endl;}intmain(intargc,char**argv){ros:init(argc,argv,'reveive_rviz');ros:NodeHandlenh;ros:SSubscribersub=nh.subscribe('/initialpose',1,chatterCallback);//队列长度：1000或1或其他ros:Subscribersub1=nh.subscribe('/move_base_simple/goal',1,chatterCallback1);//队列长度：1000或1或其他while(ros:ok()){ros:spinOnce();}return0;}

启动rviz和节点程序，使用2DNavGoal、2DPoseEstimate在rviz中进行标记，即可打印出：

订阅开始姿势和结束点并保持发布：

#include'ros/ros.h'#include'std_msgs/String.h'#includeGeometry_msgs/PoseWithCovarianceStamped.h#includeiostream#includeGeometry_msgs/PoseStamped.hros:Publisherinitialpose_pub,goal_pub;geometry_msgs:PoseWithCovarianceStampedinitialpose_tmp;//设置为全局变量，你可以已经发布了geometry_msgs:PoseStampedgoal_tmp;voidinitialpose_handler(constGeometry_msgs:PoseWithCovarianceStamped:ConstPtrmsg){doublex=msg-pose.pose.position.x;双y=msg-pose.pose.position.y;std:cout'起始点坐标：('x','y')'std:endl;初始姿势_tmp=*msg;//initialpose_tmp.header=msg-header;//initialpose_tmp.header=msg-header;initialpose_pub.publish(initialpose_tmp);}voidgoal_handler(constGeometry_msgs:PoseStamped:ConstPtrmsg){doublex=msg-pose.position.x;双y=msg-pose.position.y;std:cout'终点坐标：('x','y')'std:endl;goal_tmp=*消息；goal_pub.publish(*msg);}intmain(intargc,char**argv){ros:init(argc,argv,'reveive_rviz');ros:NodeHandlenh;ros:Subscribersub=nh.subscribe('/initialpose',1,initialpose_handler);//将1000改为1ros:Subscribersub1=nh.subscribe('/move_base_simple/goal',1,goal_handler);//1000改为1initialpose_pub=nh.advertisegeometry_msgs:PoseWithCovarianceStamped('initialpose_my',1);goal_pub=nh.advertisegeometry_msgs:PoseStamped('goal_my',1);while(ros:ok()){ros:spinOnce();}返回0；}

参考链接：

2DNavGoal和2DPoseEstimate功能介绍：rviz/UserGuide-ROSWiki

2D导航目标和2D姿态估计的消息类型：导航/教程/将rviz与导航堆栈结合使用-ROSWiki