move_base_rfn acts as an interface between RoboFrameNet and the move_base action server. move_base_rfn is an RFNServer which listens for requests to navigate to certain locations. When a request comes in, move_base_rfn sends requests to the move_base action server. When a preempt request comes, a preempt is likewise sent to the move_base action server.
move_base_rfn is ...