move_base功能包中的话题和服务

ROS

1 rosmsg show move_base_msgs/MoveBaseActionGoal

std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
actionlib_msgs/GoalID goal_id
  time stamp
  string id
move_base_msgs/MoveBaseGoal goal
  geometry_msgs/PoseStamped target_pose
    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

2 rosmsg show actionlib_msgs/GoalID

time stamp
string id

3 rosmsg show move_base_msgs/MoveBaseActionFeedback std_msgs/Header header

 uint32 seq
  time stamp
  string frame_id
actionlib_msgs/GoalStatus status
  uint8 PENDING=0 //“待处理”
  uint8 ACTIVE=1//“有效”
  uint8 PREEMPTED=2//“已清除”
  uint8 SUCCEEDED=3//“成功”
  uint8 ABORTED=4//“已中止”
  uint8 REJECTED=5//“拒绝”
  uint8 PREEMPTING=6//整理
  uint8 RECALLING=7//正重新调用
  uint8 RECALLED=8//已召回
  uint8 LOST=9 //'丢失'
  actionlib_msgs/GoalID goal_id
    time stamp
    string id
  uint8 status
  string text
move_base_msgs/MoveBaseFeedback feedback
  geometry_msgs/PoseStamped base_position
    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

4 rosmsg show actionlib_msgs/GoaLStatusArray
找不到相关消息数据格式定义
5 rosmsg show move_base_msgs/MoveBaseActionResult

std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
actionlib_msgs/GoalStatus status
  uint8 PENDING=0
  uint8 ACTIVE=1
  uint8 PREEMPTED=2
  uint8 SUCCEEDED=3
  uint8 ABORTED=4
  uint8 REJECTED=5
  uint8 PREEMPTING=6
  uint8 RECALLING=7
  uint8 RECALLED=8
  uint8 LOST=9
  actionlib_msgs/GoalID goal_id
    time stamp
    string id
  uint8 status
  string text
move_base_msgs/MoveBaseResult result

6 rosmsg show 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

7 rosmsg show geometry_msgs/Twist

geometry_msgs/Vector3 linear
  float64 x
  float64 y
  float64 z
geometry_msgs/Vector3 angular
  float64 x
  float64 y
  float64 z