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    执行路点导航Py demo发现总是提示 FollowWaypoints action server is not available

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    • L
      liyihongcug
      最后由 编辑

      ros2 FollowWaypoints action server is not available (ros2 foxy版本 ubuntu20)

      但ros2命令执行发现 FollowWaypoint 的node action service都在
      而且rviz2是可以做导航的。(按钮驱动)
      用的是navigation2 (humble的)
      主要代码如下:
      from geometry_msgs.msg import PoseStamped
      from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
      import rclpy
      from rclpy.duration import Duration
      import tf_transformations

      def main():
      rclpy.init()

      navigator = BasicNavigator()
      
      # 位置初始化
      # initial_pose = PoseStamped()
      # initial_pose.header.frame_id = 'map'
      # initial_pose.header.stamp = navigator.get_clock().now().to_msg()
      # initial_pose.pose.position.x = 3.45
      # initial_pose.pose.position.y = 2.15
      # initial_pose.pose.orientation.z = 1.0
      # initial_pose.pose.orientation.w = 0.0
      # navigator.setInitialPose(initial_pose)
      
      navigator.waitUntilNav2Active()
      
      #添加导航点
      goal_poses = []
      goal_pose1 = PoseStamped()
      goal_pose1.header.frame_id = 'map'
      goal_pose1.header.stamp = navigator.get_clock().now().to_msg()
      goal_pose1.pose.position.x = 1.5
      goal_pose1.pose.position.y = -0.55
      yaw=0
      quat=tf_transformations.quaternion_from_euler(0,0,yaw)
      goal_pose1.pose.orientation.x = quat[0]
      goal_pose1.pose.orientation.y = quat[1]
      goal_pose1.pose.orientation.z = quat[2]
      goal_pose1.pose.orientation.w = quat[3]
      goal_poses.append(goal_pose1)
      
      goal_pose2 = PoseStamped()
      goal_pose2.header.frame_id = 'map'
      goal_pose2.header.stamp = navigator.get_clock().now().to_msg()
      goal_pose2.pose.position.x = 0.3
      goal_pose2.pose.position.y = -0.2
      yaw=0
      quat=tf_transformations.quaternion_from_euler(0,0,yaw)
      goal_pose2.pose.orientation.x = quat[0]
      goal_pose2.pose.orientation.y = quat[1]
      goal_pose2.pose.orientation.z = quat[2]
      goal_pose2.pose.orientation.w = quat[3]
      goal_poses.append(goal_pose2)
      
      goal_pose3 = PoseStamped()
      goal_pose3.header.frame_id = 'map'
      goal_pose3.header.stamp = navigator.get_clock().now().to_msg()
      goal_pose3.pose.position.x = -0.8
      goal_pose3.pose.position.y = -0.3
      yaw=0
      quat=tf_transformations.quaternion_from_euler(0,0,yaw)
      goal_pose3.pose.orientation.x = quat[0]
      goal_pose3.pose.orientation.y = quat[1]
      goal_pose3.pose.orientation.z = quat[2]
      goal_pose3.pose.orientation.w = quat[3]
      goal_poses.append(goal_pose3)
      
      
      nav_start = navigator.get_clock().now()
      navigator.followWaypoints(goal_poses)
      
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