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AtsushiSaito / buttons_ros

ROS package for web interface button
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About using the button to set the target point for the ros robot #1

Open ju-mingyue opened 3 years ago

ju-mingyue commented 3 years ago

@AtsushiSaito Hello, I am glad to see your file, it is of great help to me. At present, I have some problems in the process of experimenting. I hope you can help me.

  1. I use the mobile app to set a button and publish a topic named /mobile_base/events/button0. I use the following program to subscribe to the topic and publish the target point to move_base. `

    !/usr/bin/env python

      # -*- coding: utf-8 -*-

  import roslib
  import rospy
  import actionlib
  from std_msgs.msg import Bool
  from geometry_msgs.msg import Pose, PoseWithCovarianceStamped, Point, Quaternion, Twist  
  from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal

  class kobuki_button():

      def __init__(self):
          rospy.init_node("kobuki_button")      

          #monitor kobuki's button events
          rospy.Subscriber("/mobile_base/events/button0",Bool,self.ButtonEventCallback1)

          self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction)
          self.goal = MoveBaseGoal()    
          self.goal.target_pose.header.frame_id = 'map'  
          self.goal.target_pose.header.stamp = rospy.Time.now()
          #self.data=False
      def ButtonEventCallback1(self,data):
          #print(data)
          self.target = Pose(Point(-5.543, -4.779, 0.000), Quaternion(0.000, 0.000, 0.645, 0.764)) 
          if data==True:
          self.goal.target_pose.pose = self.target
          self.move_base.send_goal(self.goal)
          rospy.loginfo("Going to: " + str(target))

  if __name__ == '__main__':
      try:
      kobuki_button()

      rospy.spin()
      except rospy.ROSInterruptException:
      rospy.loginfo("exception")`

  2. Currently the program compiles without errors, but the target point cannot be sent, and the robot cannot receive the target point's information. I don't know how to do it. Hope to get your help.

  3. I hope you can give me some guidance, especially for the use of ros mobile phone software control, and the use of rosbrige, I am a novice.I will be very grateful for your help.

AtsushiSaito commented 3 years ago

@ju-mingyue Maybe I can help.

First, you need to find the problem. Please check the following

  1. Check that "/mobile_base/events/button0" is subscribed correctly in the python code.
  2. Create a simple program to set a destination and check if the robot works.

Please verify these contents and let us know the results.

To understand rosbridge, you may want to read the following reference.