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nav2_test.py
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nav2_test.py
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#!/usr/bin/env python3
import rclpy
from nav2_simple_commander.robot_navigator import BasicNavigator
from geometry_msgs.msg import PoseStamped
import tf_transformations
def creater_pese_stamped(navigator:BasicNavigator ,pose_x,pose_y,orientation_z):
q_x, q_y, q_z, q_w= tf_transformations.quaternion_from_euler(0.0, 0.0, orientation_z)
pose = PoseStamped()
pose.header.frame_id='map'
pose.header.stamp = navigator.get_clock().now().to_msg()
pose.pose.position.x = pose_x
pose.pose.position.y = pose_y
pose.pose.position.z = 0.0
pose.pose.orientation.x = q_x
pose.pose.orientation.x = q_y
pose.pose.orientation.x = q_z
pose.pose.orientation.w = q_w
return pose
def main():
##--init
rclpy.init()
nav = BasicNavigator()
# --- set init pose
inital_pose= creater_pese_stamped(nav,0.0,0.0,0.0)
nav.setInitialPose(inital_pose)
#-Wait for Nav2
nav.waitUntilNav2Active()
#-Send Goal
goal1 = creater_pese_stamped(nav, 2.5, 1.5, 1.57)
goal2 = creater_pese_stamped(nav, 2.5, -1.5, 1.57)
goal3 = creater_pese_stamped(nav, 2.0, 2.5, 1.57)
waypoints=[goal1,goal2,goal3]
nav.followWaypoints(waypoints)
while not nav.isTaskComplete():
feedback= nav.getFeedback()
#print(feedback)
print(nav.getResult())
#shutdown
rclpy.shutdown()
if __name__ =='__main__':
main()