Action Clientを使用して、navigation2のAction Server（navigate_to_pose）に目標値を送るコードをRust（r2r）実装したものです。
| Name（Action Sever） | Type | Description |
|---|---|---|
navigate_to_pose |
nav2_msgs::action::NavigateToPose::Action |
ある目標値を送り、結果を取得するためのaction |
- ROS 2 Humble
- r2r 0.7.0
./ros2_rust_install_script.sh
mkdir catkin_ws/src -p
cd catkin_ws
git clone [email protected]:uhobeike/nav2_send_goal_rust.git src/nav2_send_goal_rust
git clone -b humble-devel [email protected]:ROBOTIS-GIT/turtlebot3.git src/turtlebot3
git clone -b humble-devel [email protected]:ROBOTIS-GIT/turtlebot3_msgs.git src/turtlebot3_msgs
git clone -b humble-devel [email protected]:ROBOTIS-GIT/turtlebot3_simulations.git src/turtlebot3_simulations
rosdep install -r -y --from-paths --ignore-src ./
source /opt/ros/humble/setup.bash
source $HOME/.cargo/env
colcon build --symlink-install
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True
ros2 run nav2_send_goal_rust nav2_send_goal_rust