Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Hi, I modified the famous tutorial that sends goal to move_base. The code sends 5 different goals sequantially. Hope this helps

#include <ros/ros.h>
    #include <move_base_msgs/MoveBaseAction.h>
    #include <actionlib/client/simple_action_client.h>
    #include <iostream>
    #include <array>

    typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;

    int x [5] = { 1, 2, 2, 4, 4}; 
    int y [5] = {0, 0 ,2 , 2, 4};

    int lenght0f_Array = sizeof(x) / sizeof(x[0]);


    int main(int argc, char** argv){
      ros::init(argc, argv, "simple_navigation_goals");

      //tell the action client that we want to spin a thread by default
      MoveBaseClient ac("move_base", true);

      //wait for the action server to come up
      while(!ac.waitForServer(ros::Duration(5.0))){
        ROS_INFO("Waiting for the move_base action server to come up");
      }

      move_base_msgs::MoveBaseGoal goal;

      //we'll send a goal to the robot to move 1 meter forward
      goal.target_pose.header.frame_id = "base_link";
      goal.target_pose.header.stamp = ros::Time::now();
      for( int i = 0; i < lenght0f_Array; i = i + 1 ) {


        goal.target_pose.pose.position.x = x[i];
        goal.target_pose.pose.orientation.w = y[i];
      ROS_INFO("Sending goal");
      ac.sendGoal(goal);

      ac.waitForResult();

      if(ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
        ROS_INFO("Hooray, the base moved 1 meter forward");
      else
        ROS_INFO("The base failed to move forward 1 meter for some reason");
       }


      return 0;
    }