How to programmatically set goal point for drone

[jcyriac2]

Hi, great work on this novel planner! I was wondering whether if there is a way to easily set the goal point for the planner without having to click a point in Rviz? I wanted to perform some repeatable experiments with a constant goal point. Will publishing on the /SQ01s/goal topic do the trick or is there a way to do this in the existing code base that I am unaware of?

Thanks!

[jtorde]

Hi @jcyriac2!

To set the (terminal) goal for the planner, you need to publish to the topic /move_base_simple/goal. Here is one example that you can use from the terminal:

rostopic pub /move_base_simple/goal geometry_msgs/PoseStamped '{header: {stamp: now, frame_id: "map"}, pose: {position: {x: 10.0, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}'

You can also publish this easily from C++ or Python

Hope this helps!

[jcyriac2]

Yes, this is perfect! Thank you @jtorde