ROS 运动时实时状态控制 - via service

清除 costmap
    rosservice call /move_base/clear_costmaps

让 amcl 重新定位自己的位置
   rosservice call   /global_localization  
   

通过service设定目标点.  起始通过topic设定更简单一些.
rosservice info /move_base/NavfnROS/make_plan  或者 /move_base/make_plan

Type: nav_msgs/GetPlan
Args: start goal tolerance

设置node的log级别
    rosservice call /big_teleop_keyboard/get_loggers  #显示       

loggers:
  -
    name: "logger"
    level: "info"
  -
    name: "ros"
    level: "info"
  -
    name: "ros.big_teleop"
    level: "info"
  -
    name: "ros.roscpp"
    level: "info"
  -
    name: "ros.roscpp.roscpp_internal"
    level: "info"
  -
    name: "ros.roscpp.roscpp_internal.connections"
    level: "info"
  -
    name: "ros.roscpp.superdebug"
    level: "warn"

    rosservice call /big_teleop_keyboard/set_logger_level ros.big_teleop info

ROS全局定位失效时的解决办法

rosservice call /global_localization "{}"   自动重新对机器人进行定位
rosservice call /request_nomotion_update "{}"  手动的来更新粒子并发布新的粒子
rosservice call / move_base / clear_costmaps“{}" 清理代价地图