tf_to_movebase

A node to let a robot drive to a certain tf

Example

rosrun tf_to_movebase tf_to_movebase_node _action_topic:=/4/move_base _tf_name_target:=/4/rest _max_duration:=100 __name:=tf_to_movebase_node

Common usage of scripts

1. Run any mapping with Rviz visualization
2. Run a rostopic echo points on the Rviz topic which publishes geometry_msgs/PointStamped (e.g. rostopic echo clicked_point | tee /tmp/cliecked_points.txt)
3. Use the click_point tool to select certain goal locations for the robot
4. Format the output via format_point.sh /tmp/cliecked_points.txt
5. Adapt the example.sh script accordingly, to let the robot drive to every location, one after another

Arguments

• action_topic: Topic for sending the action
• tf_name_target: Target tf frame which will be approached
• max_duration: Time in seconds until the node finishes w/o waiting for the action reply