Hi everybody.

I have an issue with actionlib.

I want to test my small application with the navigation stack, and I give to the goal position the following coordinates then I compute the quaternion as it is shown, then a passed the values to the goal. The path to the goal position is always computed as direct line. Like the robot moves long the x direction. In this case it it moves to x=2, y=0, It seems to be as if something is wrong the way I am computing the (x,y) quaternion.

x=2.0; y=-4.0;

th=D2R*(atan2(y,x));

goal.targetpose.pose.position.x = x; goal.targetpose.pose.position.y = y; goal.target_pose.pose.orientation = tf::createQuaternionMsgFromYaw(th);;

In advance, thank you for your help.