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How to use simpleactionserver without having to make excutable

Looking at the tuorial at: http://wiki.ros.org/navigation/Tutorials/SendingSimpleGoals

I get to the last step and it says:

After this, its as simple as running the executable we created. ./bin/simplenavigationgoals And, if all goes well, the robot should begin to move a meter forward.

Which works great and the robot moves forward.

But doing this have I really created an node that is running? I am used to this typical interface where you do

rosrun simplenavigationgoals simplenavigationgoals.cpp

How would I include this executable in a launch file for more complex use?

Thanks, goatfig

P.S. It is very possible that I just do not understand the mechanic for executables in ROS. If this is the case please just point me to an tutorial if one happens to exist.

Asked by goatfig on 2014-01-09 07:06:14 UTC

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I answered my own question. Ill leave it up for anyone else that may have an similar issue.

I just realized I have never used the .cpp flow for ros and have been in python the whole time. This is where my problem was.

Could someone please close this. Since I cannot as my rep is too low

Asked by goatfig on 2014-01-09 07:16:56 UTC

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