Getting the navigation goal from RVIZ

Question

I am able to get the initial pose of my turtlebot using :

rospy.wait_for_message('initialpose', PoseWithCovarianceStamped)

rospy.Subscriber('initialpose', PoseWithCovarianceStamped)

This allows me to get a the initial pose when a user clicks sets the 2d Pose estimate in RVIZ. My question is threefold

• How do I achieve the same with the 2d Navigation Goal (getting it fom RVIZ)?
• What message should I wait for and subscribe to?
• What TYPE of message am I looking for? For example with initialpose I get a PoseWithCovarianceStamped message.

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Originally posted by Giza on ROS Answers with karma: 43 on 2014-11-03

Post score: 1

Answer 1

rviz publishes goals on the topic /move_base_simple/goal as a geometry_msgs/PoseStamped.

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Originally posted by Dan Lazewatsky with karma: 9115 on 2014-11-03

This answer was ACCEPTED on the original site

Post score: 4

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Original comments

Comment by David Lu on 2014-11-03:
The specific topic can be changed using the Tool Properties panel.

Comment by Giza on 2014-11-25:
@David thanks got it. Do you know how I can now convert this to a goal coordinate. Im not having any luck

Comment by David Lu on 2014-11-25:
What do you mean by goal coordinate?

Comment by Giza on 2014-11-26:
Sorry about that. How do I convert the PoseStamped to MoveBaseGoal() if at all possible?

Comment by David Lu on 2014-11-28:
If you look at http://wiki.ros.org/move_base_msgs you'll see that all MoveBaseGoal contains is a PoseStamped.