重启egoplanner项目

启动基本命令

sudo chmod 777 /dev/ttyACM0                      //开启飞控串口
source /home/yanchang/Fast-Drone-250/devel/setup.bash
cd /home/yanchang/Fast-Drone-250                 //加载命令行终端环境
sh shfiles/rspx4.sh
roslaunch ego_planner single_run_in_exp.launch   //真实飞机
roslaunch ego_planner single_run_in_sim.launch   //模拟环境
sh shfiles/record.sh
roslaunch ego_planner rviz.launch
rosrun ego_planner TestPyNode.py

命令行监听模拟rviz发送数据

yanchang@yanchang-MiNiPc:~/Fast-Drone-250$ rostopic echo /move_base_simple/goal
header: 
  seq: 0
  stamp: 
    secs: 1744791289
    nsecs: 164873758
  frame_id: "world"
pose: 
  position: 
    x: 2.404064178466797
    y: -4.245367527008057
    z: 0.0
  orientation: 
    x: 0.0
    y: 0.0
    z: 0.0
    w: 1.0
---

然后可以通过命令行模拟此话题的输出

rostopic pub /move_base_simple/goal geometry_msgs/PoseStamped \
"{
  header: {
    seq: 0,  # 可选字段（ROS1会自动填充，可省略）
    stamp: {secs: 0, nsecs: 0},  # 关键修复：secs/nsecs替换sec/nsec
    frame_id: 'world'
  },
  pose: {
    position: {x: 3.0, y: 9.0, z: 1.0},  
    orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
  }
}" \
--once