python可以用来写导航吗_Turbot与python编程-实现带避障的定点导航

Turbot与python编程-实现带避障的定点导航

说明：

介绍如何利用turbot机器人利用雷达或kinect进行定点导航，同时能动态避开障碍

代码：

实现代码：

# 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

# goToSpecificPointOnMap.py

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

form sys import argv

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.SimpleActionC