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According to the code, that method calculates the Euclidian distance between p1 and p2.

According to the code, that method calculates the Euclidian distance between p1 and p2.

I would like to know what double MoveBase::distance(const geometry_msgs::PoseStamped& p1, const geometry_msgs::PoseStamped& p2) means , which is a function in move_base.cpp. Does it mean the distance from a present point to a goal point?

According to the code, that method calculates the Euclidian distance between p1 and p2.. So not necessarily a goal.

In addition, I would also like to know the meaning of geometry_msgs::PoseStamped. Is it a self position?

p1 and p2 could be any point.

geometry_msgs/PoseStamped is a message in the geometry_msgs pkg, and those can be used to represent arbitrary poses in a Cartesian coord system, relative to some origin.