I need to query roscore (from Linux and/or windows) and get the path (getpath). I found https://answers.ros.org/question/330609/how-can-i-use-getplan-service-in-python/ this question/answer, which would do exactly what I need.

For a couple of reasons, it is hard to do a full ROS install. But I did manage to install roslibpy and would like to use it to talk to roscoare to get the path.

What is the surrounding glue code to connect with roslibpy to roscore from locahost or elsewhere and submit this message (and get the answer):

get_plan = rospy.ServiceProxy('/move_base/make_plan', nav_msgs.GetPlan)
req = nav_msgs.GetPlan()
req.start = start
req.goal = Goal
req.tolerance = .5
resp = get_plan(req.start, req.goal, req.tolerance)
print(resp)