Publishing to move_base from command line

Course Support ROS Navigation In 5 Days
1

I’m working my way through chapter 4 and at exercise 4.3, I am supposed to manually publish a destination point to the move_base node.

I have tried the following:

rostopic pub /move_base/goal move_base_msgs/MoveBaseActionGoal 'header: seq: 7 stamp: now frame_id: ‘’ goal_id: stamp: now id: ‘’ goal: target_pose: header: seq: 7 stamp: now frame_id: “map” pose: position: x: 10.0 y: 5.0 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.5 w: 0.1 ’

. . . But I am gettig the following error :

Usage: rostopic pub /topic type [args...]
rostopic: error: Argument error: mapping values are not allowed here
  in "<unicode string>", line 1, column 13:
    header:  seq: 7 stamp: now frame_id:  goal_i ...
                ^

As the notes don’t provide information on what data to provide the default blank move_base_msgs/MoveBaseActionGoal object, I really need some help understanding and solving this issue.

2

Hello @adeoduye ,

The message has to be something like this:

rostopic pub /move_base/goal move_base_msgs/MoveBaseActionGoal "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
goal_id:
  stamp:
    secs: 0
    nsecs: 0
  id: ''
goal:
  target_pose:
    header:
      seq: 0
      stamp:
        secs: 0
        nsecs: 0
      frame_id: 'map'
    pose:
      position:
        x: 1.0
        y: 2.5
        z: 0.0
      orientation:
        x: 0.0
        y: 0.0
        z: 0.75
        w: 0.66"

You don’t have to fill all the data in the header section, except for the frame_id argument in the goal section.

Best,