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1 | initial version |
You can send navigation goals as follows:
from geometry_msgs.msg import Pose, Point, Quaternion
goal = MoveBaseGoal()
goal.target_pose.pose = Pose(Point(1.5, -4.85, 0), Quaternion(0.0, 0.0, 0.6, 0.77))
goal.target_pose.header.frame_id = "map"
goal.target_pose.header.stamp = rospy.Time()
self.sac.send_goal(goal, active_cb=self.active_callback, done_cb=self.done_callback, feedback_cb=self.feedback_callback)
You can define the callback functions, which you provide while sending the goal, as follows:
def done_callback(self):
rospy.loginfo("done callback")
The rest is up to you.