#!/usr/bin/env?python

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#?TurtleBot?must?have?minimal.launch?&?amcl_demo.launch
#?running?prior?to?starting?this?script
#?For?simulation:?launch?gazebo?world?&?amcl_demo?prior?to?run?this?script

import?rospy
from?move_base_msgs.msg?import?MovebaseAction?MovebaseGoal
import?actionlib
from?actionlib_msgs.msg?import?*
from?geometry_msgs.msg?import?Pose?Point?Quaternion
from?image_converter?import?Image_converter

class?GoToPose（）:
????def?__init__（self）:

????????self.goal_sent?=?False

????????#?What?to?do?if?shut?down?（e.g.?Ctrl-C?or?failure）
????????rospy.on_shutdown（self.shutdown）
????????
????????#?Tell?the?action?client?that?we?want?to?spin?a?thread?by?default
????????self.move_base?=?actionlib.SimpleActionClient（“move_base“?MovebaseAction）
????????print（“Wait?for?the?action?server?to?come?up“）

????????#?Allow?up?to?5?seconds?for?the?action?server?to?come?up
????????self.move_base.wait_for_server（rospy.Duration（5））

????def?goto（self?pos?quat）:
????????#?Send?a?goal
????????self.goal_sent?=?True
????????goal?=?MovebaseGoal（）
????????goal.target_pose.header.frame_id?=?‘map‘
????????goal.target_pose.header.stamp?=?rospy.Time.now（）
????????goal.target_pose.pose?=?Pose（Point（pos[‘x‘]?pos[‘y‘]?0.000）?Quaternion（quat[‘r1‘]?quat[‘r2‘]?quat[‘r3‘]?quat[‘r4‘]））

	#?Start?moving
????????self.move_base.send_goal（goal）

	#?Allow?TurtleBot?up?to?60?seconds?to?complete?task
????????success?=?self.move_base.wait_for_result（rospy.Duration（60））?

????????state?=?self.move_base.get_sta

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件????????5864??2020-07-29?11:39??go_to_specific_point_on_map.py
?????文件????????2703??2020-07-29?11:39??image_converter.py
?????文件?????????772??2020-07-29?11:39??main.py
?????文件????????5290??2020-07-29?11:39??wall_follower.py