We're trying to get the Turtlebot to drive to points relative to the /base_link frame. We looked at the [Sending Simple Goals](http://wiki.ros.org/navigation/Tutorials/SendingSimpleGoals) tutorial. We've successfully gotten the robot to move by running amcl_demo.launch and using goals (either move_base_simple or regular move_base goals with actionlib) in /map frame. However, when we try to set goals in /base_link, relative to the robot, nothing happens. Our code is:
#!/usr/bin/env python
import roslib
import rospy
import actionlib
from people_msgs.msg import PositionMeasurementArray
from geometry_msgs.msg import *
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
def callback(data):
# publish to whatever message the driving is going to take place
pub = rospy.Publisher("move_base_simple/goal", PoseStamped, queue_size = 10)
client = actionlib.SimpleActionClient("move_base", MoveBaseAction)
#client.wait_for_server()
if len(data.people) > 0:
#person found
rospy.loginfo("Found person, generate goal")
target_goal_simple = PoseStamped()
#target_goal = MoveBaseGoal()
#forming a proper PoseStamped message
target_goal_simple.pose.position = data.people[0].pos
target_goal_simple.pose.position.z = 0
target_goal_simple.pose.orientation.w = 1
target_goal_simple.header.frame_id = 'base_link'
target_goal_simple.header.stamp = rospy.Time.now()
#target_goal.target_pose.pose.position = data.people[0].pos
#sending goal
rospy.loginfo("sending goal")
pub.publish(target_goal_simple)
#client.send_goal(target_goal)
def follower():
rospy.init_node('human_follower')
rospy.Subscriber('people_tracker_measurements',PositionMeasurementArray, callback)
rospy.spin()
if __name__ == '__main__':
try:
follower()
except rospy.ROSInterruptException:
pass
I guess in general I'm wondering if there's a way to run navigation without a map and send goals relative to the robot? It seems to be possible, but I can't figure out how (what to launch? how to set my goals?). Any help would be appreciated! Thanks!
-Sarah
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