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Sending goals to navigation stack using code


I think this question is not really related to rtabmap, but I'm hoping that you could point me to the right direction.

I am able to send goals to navigation stack following tutorials on this site My question is, how can I verify that the location of the goal pose itself is free of obstacles(a valid goal pose)? I'm trying to code up something that will generate valid goal poses by itself.

Thanks, CJ