send_goal.py

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#!/usr/bin/env python

import roslib; roslib.load_manifest('move_base_stage_tutorial')

import rospy, actionlib
from move_base_msgs.msg import *

if __name__ == '__main__':
    try:
        rospy.init_node('send_goal', anonymous=True)
        client = actionlib.SimpleActionClient('move_base', MoveBaseAction)
        client.wait_for_server()

        goal = MoveBaseGoal()
        goal.target_pose.header.stamp = rospy.Time.now()
        goal.target_pose.header.frame_id = "/map"
        goal.target_pose.pose.position.x=10;
        goal.target_pose.pose.position.y=20;
        goal.target_pose.pose.orientation.z = 1
        print goal
        client.send_goal(goal)
        print client.wait_for_result()
    except rospy.ROSInterruptException: pass