ros(23)：接收rviz中的2D Nav Goal、2D Pose Estimate消息

1 rviz 教程

1.1 2D Nav Goal

2D Nav Goal (Keyboard shortcut: g)

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 <geometry_msgs/PoseWithCovarianceStamped.h>
#include <iostream>
#include <geometry_msgs/PoseStamped.h>

void chatterCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& msg)
{
  double x=msg->pose.pose.position.x;
  double y=msg->pose.pose.position.y;
  std::cout<<x<<y<<std::endl;
}

void chatterCallback1(const geometry_msgs::PoseStamped::ConstPtr& msg)
{
  std::cout<<"1111"<<std::endl;
  double x=msg->pose.position.x;
  double y=msg->pose.position.y;
  std::cout<<x<<y<<std::endl;
}
int main(int argc, char **argv)
{
  ros::init(argc, argv, "reveive_rviz");
  ros::NodeHandle nh;

  ros::Subscriber sub = nh.subscribe("/initialpose", 1, chatterCallback);//队列长度:1000或1或其他
 ros::Subscriber sub1 = nh.subscribe("/move_base_simple/goal", 1, chatterCallback1);//队列长度:1000或1或其他

while(ros::ok())
{
  ros::spinOnce();
}

  return 0;
}

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 <geometry_msgs/PoseWithCovarianceStamped.h>
#include <iostream>
#include <geometry_msgs/PoseStamped.h>

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<<"起点坐标：("<<x<<", "<<y<<")"<<std::endl;
  initialpose_tmp=*msg;
  // initialpose_tmp.header=msg->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<<"终点坐标：("<<x<<", "<<y<<")"<<std::endl;
  goal_tmp=*msg;
  goal_pub.publish(*msg);
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "reveive_rviz");
  ros::NodeHandle nh;

  ros::Subscriber sub = nh.subscribe("/initialpose", 1, initialpose_handler);//1000改为1
  ros::Subscriber sub1 = nh.subscribe("/move_base_simple/goal", 1, goal_handler);//1000改为1
  initialpose_pub = nh.advertise<geometry_msgs::PoseWithCovarianceStamped>("initialpose_my", 1);
  goal_pub = nh.advertise<geometry_msgs::PoseStamped>("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