Mastering ROS for Robotics Programming - Second Edition

Sending a goal to the Navigation stack from a ROS node

We have seen how to send a goal position to a robot for moving it from point A to B using the RViz 2D Nav Goal button. Now we will see how to command the robot using the actionlib client and the ROS C++ APIs. The following is a sample package and node for communicating with the Navigation stack move_base node.

The move_base node is SimpleActionServer. We can send and cancel the goals to the robot if the task takes a lot of time to complete.

The following code is SimpleActionClient for the move_base node, which can send the x, y, and theta from the command-line arguments. The following code is in the chefbot_bringup/src folder with the name of send_robot_goal.cpp:

#include <ros/ros.h> ...