How are Goals Used in Move_Base?
I'm trying to get a better understanding of how Move_Base uses goals it receives from /move_base_simple/goal.
Looking at the code, I know that if I publish something to /move_base_simple/goal, it will use the callback function MoveBase::goalCB. Look into goalCB, I see that it serializes the message from /move_base_simple/goal into a MoveBaseActionGoal, and publishes it to the topic move_base/goal. When I do a "ros topic info move_base/goal", I see that the only node that subscribes to that topic is move_base, indicating that somewhere in move_base I should find that topic being subscribed to and used. That said, I don't see any place in move_base that subscribes to the topic "move_base/goal" of type MoveBaseActionGoal.
What is going on with the goal here? Where does it get read and processed to get sent to the global planner?
