set_goal_client.cpp

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#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <nav2d_navigator/MoveToPosition2DAction.h>
#include <geometry_msgs/PoseStamped.h>
#include <tf/transform_datatypes.h>
 
#include <nav2d_navigator/commands.h>
 
typedef actionlib::SimpleActionClient<nav2d_navigator::MoveToPosition2DAction> MoveClient;
 
MoveClient* gMoveClient;
 
void receiveGoal(const geometry_msgs::PoseStamped::ConstPtr& msg)
{
        nav2d_navigator::MoveToPosition2DGoal goal;
        goal.target_pose.x = msg->pose.position.x;
        goal.target_pose.y = msg->pose.position.y;
        goal.target_pose.theta = tf::getYaw(msg->pose.orientation);
        goal.target_distance = 0.25;
        goal.target_angle = 0.1;
        
        gMoveClient->sendGoal(goal);
}
 
int main(int argc, char **argv)
{
        ros::init(argc, argv, "SetGoal");
        ros::NodeHandle n;
        
        ros::Subscriber goalSubscriber = n.subscribe("goal", 1, &receiveGoal);
        gMoveClient = new MoveClient(NAV_MOVE_ACTION, true);
        gMoveClient->waitForServer();
        
        ros::spin();
        
        delete gMoveClient;
        return 0;
}