00001 #ifndef _NAVIGATION_UTILS_H_ 00002 #define _NAVIGATION_UTILS_H_ 00003 00004 #include <ros/ros.h> 00005 #include <move_base_msgs/MoveBaseAction.h> 00006 #include <actionlib/client/simple_action_client.h> 00007 #include <octomap/octomap.h> 00008 #include <tf/transform_listener.h> 00009 00010 00011 typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient; 00012 typedef octomap::point3d point3d; 00013 00014 bool goToDest(point3d go_posi, tf::Quaternion q); 00015 00016 #endif