navigation_stack send goal

edit

hi, i try to move my robot in gazebo via the navigation stack. but i have no idea how to send goals to him, andhttp://www.ros.org/wiki/navigation/Tutorials/SendingSimpleGoals does not work, there comes just a compiler error

`/usr/bin/ld: CMakeFiles/simple_navigation_goals.dir/src/simple_navigation_goals.o: undefined reference to symbol 'vtable for boost::detail::thread_data_base'
  /usr/bin/ld: note: 'vtable for boost::detail::thread_data_base' is defined in DSO /usr/lib/libboost_thread.so.1.46.1 so try adding it to the linker command line
  /usr/lib/libboost_thread.so.1.46.1: could not read symbols: Invalid operation
  collect2: ld returned 1 exit status`

are there some other easy examples or have you one ? it can also be in python.Or you can help me solve the compiler error (:

    cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:
#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
#  Debug          : w/ debug symbols, w/o optimization
#  Release        : w/o debug symbols, w/ optimization
#  RelWithDebInfo : w/ debug symbols, w/ optimization
#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)

rosbuild_init()

#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#uncomment if you have defined messages
#rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()

#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
#rosbuild_add_executable(example examples/example.cpp)
#target_link_libraries(example ${PROJECT_NAME})
rosbuild_add_executable(simple_navigation_goals src/simple_navigation_goals.cpp)