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Learning ROS for Robotics Programming by Enrique Fernández, Aaron Martinez

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Sending goals

We are sure that you have been playing with the robot by moving it around the map a lot. This is funny but a little tedious and it is not very functional.

Perhaps you were thinking that it would be a great idea to program a list of movements and send the robot to different positions with only a button, even when we are not in front of a computer with rviz.

Okay, now you are going to learn how to do it using actionlib.

The actionlib package provides a standardized interface for interfacing with tasks. For example, you can use it to send goals for the robot to detect something in a place, make scans with the laser, and so on. In this section, we will send a goal to the robot and we will wait for this task to end.

It could look similar ...

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