查看导航状态

rostopic echo move_base/status

发导航命令到某点

rostopic pub /move_base_simple/goal geometry_msgs/PoseStamped "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: 'map'
pose:
  position:
    x: 60.0
    y: -6.0
    z: 0.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 1.0"

停止导航

一句话：rostopic pub /move_base/cancel actionlib_msgs/GoalID -- {}，即向话题/move_base/cancel发空消息

ros::Publisher cancle_pub_ = nh_.advertise("move_base/cancel",1);

actionlib_msgs::GoalID first_goal;
cancle_pub_.publish(first_goal);