• SN_MOVING : move_base_simple.cpp , multi_move_base_simple.cpp
• SN_MOVING_AS : multi_move_base_simple.cpp , move_base_simple.cpp
• SN_ROTATING : move_base_simple.cpp , multi_move_base_simple.cpp
• SN_ROTATING_AS : move_base_simple.cpp , multi_move_base_simple.cpp
• SN_STOPPED : multi_move_base_simple.cpp , move_base_simple.cpp