pub_topic.py

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#!/usr/bin/env python
import rospy
from move_base_msgs.msg import MoveBaseActionGoal
import math



if __name__ == '__main__':
                rospy.init_node('pub_goal_set')
                pub = rospy.Publisher("/move_base/goal", MoveBaseActionGoal, queue_size = 1)
                goals=MoveBaseActionGoal()
                goals.header.frame_id='map'
                goals.goal_id.id='wd'
                goals.goal.target_pose.header.frame_id='map'
                goals.goal.target_pose.pose.position.x=0.552559435368
                goals.goal.target_pose.pose.position.y=-1.06640863419
                goals.goal.target_pose.pose.position.z=0.0
                goals.goal.target_pose.pose.orientation.x=0.0
                goals.goal.target_pose.pose.orientation.y=0.0
                goals.goal.target_pose.pose.orientation.z=-0.682496084898
                goals.goal.target_pose.pose.orientation.w=0.730889248859
                rate=rospy.Rate(0.1)
                while not rospy.is_shutdown():
                        
                        pub.publish(goals)
                        rate.sleep()