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Sending Goals to the Navigation Stack

asked 2017-01-17 12:02:36 -0500

Ayush Sharma gravatar image

I am working on the navigation stack of ros. I want to implement the following random video This video is showing exactly what i want to implement. Kindly help me where can i find the source or tutorials so that i can understand and implement the same.


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Which robot are you using for run the Goals to the navigation stack?, because my robot are not with move_base and now I need another. thank you

vcanato gravatar image vcanato  ( 2017-01-21 14:35:57 -0500 )edit

I am using the "diff-wheeled-robot" as mentioned in the book "mastering ROS for robotics". U may find the files and codes mentioned in the book from the following link. "" If you need only the robot , you may direct get the "chapter_3_codes".

Ayush Sharma gravatar image Ayush Sharma  ( 2017-01-22 00:34:41 -0500 )edit

works, thank you

vcanato gravatar image vcanato  ( 2017-01-22 22:38:49 -0500 )edit

3 Answers

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answered 2017-01-17 13:02:00 -0500

ahendrix gravatar image

The tutorial on Sending goals to the navigation stack may get you started.

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Thank you for your reply. I regret but i am not able to understand the prerequisite section of the tutorial. Is it necessary to use the two given links. Or can i simply run my own bot in gazebo and rviz and then check the cpp file?? And what exactly these two links are gonna perform?? Regards

Ayush Sharma gravatar image Ayush Sharma  ( 2017-01-17 13:22:13 -0500 )edit

The prerequisite is a robot or simulation running the navigation stack; the prerequisite links will show you how to start a simulation with navigation. If you already have your own robot or simulation running navigation, you can use that instead.

ahendrix gravatar image ahendrix  ( 2017-01-17 15:19:01 -0500 )edit

I´m using the tutorial that you post But on this step "rostopic .. _base/goal" I got no answer, so calling "rostopic list" I found running "move_base_simple/goal" So I back to the "simple_navigation_goals.cpp" file and change only in line 11 "move_base" to "move_base_simple" but didn´t work.Help me?

vcanato gravatar image vcanato  ( 2017-01-17 20:26:23 -0500 )edit

move_base_simple/goal is not an actionlib server, so sending goals to it probably won't work. If there's no move_base/goal topic, you may want to double-check that move base is running.

ahendrix gravatar image ahendrix  ( 2017-01-17 22:06:46 -0500 )edit

Thank you @ahendrix . I have implemented the tutorial. I have used my bot to move a meter forward in my own loaded map. Now i want to send the command to the bot which could make the bot to move in a any desired location (as shown in the video link). Can anyone help with with such code?? Regards

Ayush Sharma gravatar image Ayush Sharma  ( 2017-01-18 06:06:18 -0500 )edit

Sounds like you should extend the example with a list of goals, and loop over that list. For each goal, send the goal, wait for the robot to get to that point, and then repeat and send the next goal.

ahendrix gravatar image ahendrix  ( 2017-01-18 12:06:23 -0500 )edit

but i want to make the user to send the goal on real time basis such that robot takes the input from user, moves to that location and so on. setting multiple goals and pre-defining them in the program wont do the job but i m not able to find any help from the net so far.

Ayush Sharma gravatar image Ayush Sharma  ( 2017-01-18 12:40:43 -0500 )edit

The video you linked doesn't show any user interaction; the robot just appears to be following a pre-defined set of waypoints. If you want to command the robot manually, why not just send goals directly from rviz?

ahendrix gravatar image ahendrix  ( 2017-01-18 13:05:10 -0500 )edit

answered 2019-01-17 06:58:54 -0500

Alberto E. gravatar image


I would suggest you the follow_waypoints package, which seems quite convenient for what you're looking for. Also, since it's written in Python, it's pretty easy to understand and to modify/customize.

I've also created a short video showing how to use it, you can check it here.

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Can you please update your answer with the relevant information to answer the question instead of linking to a video tutorial and a package? If that video disappears (which happens) then your answer will be of much less help.

jayess gravatar image jayess  ( 2019-01-17 14:56:26 -0500 )edit

answered 2018-05-24 04:18:48 -0500

fiorellasibona gravatar image

updated 2019-01-15 10:50:40 -0500

Hi! Hoping it can be helpful to someone, I have wrote two posts about sending goals to the navigation stack with a Python node (with example code):

  • Sending a single goal (equivalent to the C++ tutorial), here.

  • Sending a sequence of goals (complete of simulation with a turtlebot robot), here.


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Can you please update your answer with more information including code examples that way it will be self-contained? If those pages move or disappear then this answer will be useless.

jayess gravatar image jayess  ( 2018-05-26 01:29:34 -0500 )edit

Hi @jayess, I have updated my answer, thank you!

fiorellasibona gravatar image fiorellasibona  ( 2019-03-04 08:54:54 -0500 )edit

@fiorellasibona sorry for the confusion, but I meant putting the examples in the answer. The reason is is to keep answers self-contained because files/pages can and do disappear from other sites making the answers not helpful

jayess gravatar image jayess  ( 2019-03-04 12:54:48 -0500 )edit

@fiorellasibona can you be more specific with your answer. I am also working on ros and i am using turtlebot3 burger. can you share how to run this code and what are pre requisites for this? i mean which packages to be installed and what sould be running before running this code.

enthusiast.australia gravatar image enthusiast.australia  ( 2019-08-27 09:30:32 -0500 )edit

@enthusiast.australia Hi! I think what you are looking for is available within the first post I have linked (The "Sending a single goal" tutorial). Needed packages and launching instructions are available... Let me know! Thank you

fiorellasibona gravatar image fiorellasibona  ( 2019-09-01 15:28:51 -0500 )edit

@fiorellasibona Answers that link to external resources are discouraged (as has been mentioned) because that content can and does disappear (which happened with this answer). If you could update your answer with the relevant content from that tutorial, that would make this answer useful.

jayess gravatar image jayess  ( 2019-09-01 15:46:52 -0500 )edit

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Asked: 2017-01-17 12:02:36 -0500

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Last updated: Jan 17 '19